diff --git a/.gitattributes b/.gitattributes index 9bd29295e2aad93341fb7353bdaa6bd9573e8163..ff71a3fd65c147e54e188022f688bdd587d86669 100644 --- a/.gitattributes +++ b/.gitattributes @@ -569,3 +569,80 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text 20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/viz_gripper_dir/gripper_idx72_design_0.001719878171570599_sim_0.0005852580876541044.ply filter=lfs diff=lfs merge=lfs -text 20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/viz_gripper_dir/gripper_idx84_design_0.0018203926738351583_sim_0.0005879652811346163.ply filter=lfs diff=lfs merge=lfs -text 20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/viz_gripper_dir/gripper_idx96_design_0.0015045739710330963_sim_0.0005878375683020009.ply filter=lfs diff=lfs merge=lfs -text +20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/Ep_Batch_-1_Sampling_0108_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text +20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/Ep_Batch_-1_Sampling_0108_Local_0001.mp4 filter=lfs diff=lfs merge=lfs -text +20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/Ep_Batch_-1_Sampling_0108_Local_0002.mp4 filter=lfs diff=lfs merge=lfs -text +20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/Ep_Batch_-1_Sampling_0120_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text +20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/Ep_Batch_-1_Sampling_0120_Local_0001.mp4 filter=lfs diff=lfs merge=lfs -text +20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/Ep_Batch_-1_Sampling_0120_Local_0002.mp4 filter=lfs diff=lfs merge=lfs -text +20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/Ep_Batch_-1_Sampling_0132_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text +20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/Ep_Batch_-1_Sampling_0132_Local_0001.mp4 filter=lfs diff=lfs merge=lfs -text +20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/Ep_Batch_-1_Sampling_0132_Local_0002.mp4 filter=lfs diff=lfs merge=lfs -text +20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/Ep_Batch_-1_Sampling_0144_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text +20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/Ep_Batch_-1_Sampling_0144_Local_0001.mp4 filter=lfs diff=lfs merge=lfs -text +20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/Ep_Batch_-1_Sampling_0144_Local_0002.mp4 filter=lfs diff=lfs merge=lfs -text +20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/Ep_Batch_-1_Sampling_0156_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text +20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/Ep_Batch_-1_Sampling_0156_Local_0001.mp4 filter=lfs diff=lfs merge=lfs -text +20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/Ep_Batch_-1_Sampling_0156_Local_0002.mp4 filter=lfs diff=lfs merge=lfs -text +20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/Ep_Batch_-1_Sampling_0168_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text +20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/Ep_Batch_-1_Sampling_0168_Local_0001.mp4 filter=lfs diff=lfs merge=lfs -text +20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/Ep_Batch_-1_Sampling_0168_Local_0002.mp4 filter=lfs diff=lfs merge=lfs -text +20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/Ep_Batch_-1_Sampling_0180_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text +20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/Ep_Batch_-1_Sampling_0180_Local_0001.mp4 filter=lfs diff=lfs merge=lfs -text +20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/Ep_Batch_-1_Sampling_0180_Local_0002.mp4 filter=lfs diff=lfs merge=lfs -text +20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/Ep_Batch_-1_Sampling_0192_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text +20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/Ep_Batch_-1_Sampling_0192_Local_0001.mp4 filter=lfs diff=lfs merge=lfs -text +20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/Ep_Batch_-1_Sampling_0192_Local_0002.mp4 filter=lfs diff=lfs merge=lfs -text +20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/Ep_Batch_-1_Sampling_0204_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text +20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/Ep_Batch_-1_Sampling_0204_Local_0001.mp4 filter=lfs diff=lfs merge=lfs -text +20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/Ep_Batch_-1_Sampling_0204_Local_0002.mp4 filter=lfs diff=lfs merge=lfs -text +20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/viz_gripper_dir/gripper_idx108_design_0.001280883327126503_sim_0.0005859784452289923.ply filter=lfs diff=lfs merge=lfs -text +20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/viz_gripper_dir/gripper_idx120_design_0.0012766883010044694_sim_0.0005861749636105684.ply filter=lfs diff=lfs merge=lfs -text +20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/viz_gripper_dir/gripper_idx132_design_0.0012922913301736116_sim_0.0005887001416393442.ply filter=lfs diff=lfs merge=lfs -text +20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/viz_gripper_dir/gripper_idx144_design_0.0014811126748099923_sim_0.0005870938794279473.ply filter=lfs diff=lfs merge=lfs -text +20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/viz_gripper_dir/gripper_idx156_design_0.0013934749877080321_sim_0.0005832622832901606.ply filter=lfs diff=lfs merge=lfs -text +20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/viz_gripper_dir/gripper_idx168_design_0.0012217490002512932_sim_0.000588695857856459.ply filter=lfs diff=lfs merge=lfs -text +20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/viz_gripper_dir/gripper_idx180_design_0.0011959387920796871_sim_0.0005864228605559957.ply filter=lfs diff=lfs merge=lfs -text +20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/viz_gripper_dir/gripper_idx192_design_0.0010017069289460778_sim_0.0005806187163819886.ply filter=lfs diff=lfs merge=lfs -text +20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/viz_gripper_dir/gripper_idx204_design_0.0012449556961655617_sim_0.0005847696161331122.ply filter=lfs diff=lfs merge=lfs -text +20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/softzoo/Ep_Batch_-1_Sampling_0000_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text +20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/softzoo/Ep_Batch_-1_Sampling_0000_Local_0001.mp4 filter=lfs diff=lfs merge=lfs -text +20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/softzoo/Ep_Batch_-1_Sampling_0000_Local_0002.mp4 filter=lfs diff=lfs merge=lfs -text +20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/softzoo/Ep_Batch_-1_Sampling_0012_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text +20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/softzoo/Ep_Batch_-1_Sampling_0012_Local_0001.mp4 filter=lfs diff=lfs merge=lfs -text +20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/softzoo/Ep_Batch_-1_Sampling_0012_Local_0002.mp4 filter=lfs diff=lfs merge=lfs -text +20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/softzoo/Ep_Batch_-1_Sampling_0024_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text +20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/softzoo/Ep_Batch_-1_Sampling_0024_Local_0001.mp4 filter=lfs diff=lfs merge=lfs -text +20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/softzoo/Ep_Batch_-1_Sampling_0024_Local_0002.mp4 filter=lfs diff=lfs merge=lfs -text +20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/softzoo/Ep_Batch_-1_Sampling_0036_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text +20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/softzoo/Ep_Batch_-1_Sampling_0036_Local_0001.mp4 filter=lfs diff=lfs merge=lfs -text +20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/softzoo/Ep_Batch_-1_Sampling_0036_Local_0002.mp4 filter=lfs diff=lfs merge=lfs -text +20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/softzoo/Ep_Batch_-1_Sampling_0048_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text +20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/softzoo/Ep_Batch_-1_Sampling_0048_Local_0001.mp4 filter=lfs diff=lfs merge=lfs -text +20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/softzoo/Ep_Batch_-1_Sampling_0048_Local_0002.mp4 filter=lfs diff=lfs merge=lfs -text +20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/viz_gripper_dir/gripper_idx0_design_0.005392279010266066_sim_0.0005907073315053265.ply filter=lfs diff=lfs merge=lfs -text +20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/viz_gripper_dir/gripper_idx12_design_0.005024786107242107_sim_0.0005858468845474569.ply filter=lfs diff=lfs merge=lfs -text +20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/viz_gripper_dir/gripper_idx24_design_0.0048478334210813046_sim_0.0005908362832852595.ply filter=lfs diff=lfs merge=lfs -text +20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/viz_gripper_dir/gripper_idx36_design_0.004797336645424366_sim_0.0005906087153089013.ply filter=lfs diff=lfs merge=lfs -text +20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/viz_gripper_dir/gripper_idx48_design_0.004716844297945499_sim_0.0005907211988220023.ply filter=lfs diff=lfs merge=lfs -text +20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/softzoo/Ep_Batch_-1_Sampling_0000_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text +20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/softzoo/Ep_Batch_-1_Sampling_0000_Local_0001.mp4 filter=lfs diff=lfs merge=lfs -text +20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/softzoo/Ep_Batch_-1_Sampling_0000_Local_0002.mp4 filter=lfs diff=lfs merge=lfs -text +20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/softzoo/Ep_Batch_-1_Sampling_0012_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text +20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/softzoo/Ep_Batch_-1_Sampling_0012_Local_0001.mp4 filter=lfs diff=lfs merge=lfs -text +20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/softzoo/Ep_Batch_-1_Sampling_0012_Local_0002.mp4 filter=lfs diff=lfs merge=lfs -text +20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/softzoo/Ep_Batch_-1_Sampling_0024_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text +20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/softzoo/Ep_Batch_-1_Sampling_0024_Local_0001.mp4 filter=lfs diff=lfs merge=lfs -text +20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/softzoo/Ep_Batch_-1_Sampling_0024_Local_0002.mp4 filter=lfs diff=lfs merge=lfs -text +20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/softzoo/Ep_Batch_-1_Sampling_0036_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text +20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/softzoo/Ep_Batch_-1_Sampling_0036_Local_0001.mp4 filter=lfs diff=lfs merge=lfs -text +20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/softzoo/Ep_Batch_-1_Sampling_0036_Local_0002.mp4 filter=lfs diff=lfs merge=lfs -text +20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/softzoo/Ep_Batch_-1_Sampling_0048_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text +20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/softzoo/Ep_Batch_-1_Sampling_0048_Local_0001.mp4 filter=lfs diff=lfs merge=lfs -text +20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/softzoo/Ep_Batch_-1_Sampling_0048_Local_0002.mp4 filter=lfs diff=lfs merge=lfs -text +20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/viz_gripper_dir/gripper_idx0_design_0.021076612174510956_sim_0.0005908179294661242.ply filter=lfs diff=lfs merge=lfs -text +20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/viz_gripper_dir/gripper_idx12_design_0.019977472722530365_sim_0.0005914363306725129.ply filter=lfs diff=lfs merge=lfs -text +20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/viz_gripper_dir/gripper_idx24_design_0.019233722239732742_sim_0.0005906160706913609.ply filter=lfs diff=lfs merge=lfs -text +20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/viz_gripper_dir/gripper_idx36_design_0.018711170181632042_sim_0.0005906218121061996.ply filter=lfs diff=lfs merge=lfs -text +20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/viz_gripper_dir/gripper_idx48_design_0.018253745511174202_sim_0.0005910015146458609.ply filter=lfs diff=lfs merge=lfs -text +debug_server/softzoo/Ep_Batch_-1_Sampling_-001_Local_0000.mp4 filter=lfs diff=lfs merge=lfs -text diff --git a/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/embeddings/gripper_idx108_design_0.001280883327126503_sim_0.0005859784452289923.npz b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/embeddings/gripper_idx108_design_0.001280883327126503_sim_0.0005859784452289923.npz new file mode 100644 index 0000000000000000000000000000000000000000..52895acf0ef285b98bc599b458d5ae7f85a65a7a --- /dev/null +++ b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/embeddings/gripper_idx108_design_0.001280883327126503_sim_0.0005859784452289923.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1c1a2d70d177f2d903d89ca7e4f1b7f6f9d0253608a6d0939f2768e092853faa +size 2907 diff --git a/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/embeddings/gripper_idx120_design_0.0012766883010044694_sim_0.0005861749636105684.npz b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/embeddings/gripper_idx120_design_0.0012766883010044694_sim_0.0005861749636105684.npz new file mode 100644 index 0000000000000000000000000000000000000000..822d24d0d9a4b62889497568fccbb11a8919c224 --- /dev/null +++ b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/embeddings/gripper_idx120_design_0.0012766883010044694_sim_0.0005861749636105684.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:904838224f2dd8bfc283dfbf9bf7dbbe9aa704562427fce788a80973c62a14e3 +size 2910 diff --git a/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/embeddings/gripper_idx132_design_0.0012922913301736116_sim_0.0005887001416393442.npz b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/embeddings/gripper_idx132_design_0.0012922913301736116_sim_0.0005887001416393442.npz new file mode 100644 index 0000000000000000000000000000000000000000..14d010797145db688946c25546381bed4a381cb3 --- /dev/null +++ b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/embeddings/gripper_idx132_design_0.0012922913301736116_sim_0.0005887001416393442.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c61093791cf01bbda557e147a3abd3fa25008b70d55712e566f198fdd2c5f7cf +size 2912 diff --git a/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/embeddings/gripper_idx144_design_0.0014811126748099923_sim_0.0005870938794279473.npz b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/embeddings/gripper_idx144_design_0.0014811126748099923_sim_0.0005870938794279473.npz new file mode 100644 index 0000000000000000000000000000000000000000..3153c7813d0f528742ee76197571ce1d51422daa --- /dev/null +++ b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/embeddings/gripper_idx144_design_0.0014811126748099923_sim_0.0005870938794279473.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b3c65c5683569f145591894706c9067cbbe53084dcdcbcbfe021a74753c550db +size 2906 diff --git a/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/embeddings/gripper_idx156_design_0.0013934749877080321_sim_0.0005832622832901606.npz b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/embeddings/gripper_idx156_design_0.0013934749877080321_sim_0.0005832622832901606.npz new file mode 100644 index 0000000000000000000000000000000000000000..997ae31f9b12f25c72d3505aeb4eb352153870f0 --- /dev/null +++ b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/embeddings/gripper_idx156_design_0.0013934749877080321_sim_0.0005832622832901606.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7fcea0e55d2a7c427d6184b0a2c9842458d5d77bcf80a8af8093dd14ca14d8bf +size 2908 diff --git a/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/embeddings/gripper_idx168_design_0.0012217490002512932_sim_0.000588695857856459.npz b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/embeddings/gripper_idx168_design_0.0012217490002512932_sim_0.000588695857856459.npz new file mode 100644 index 0000000000000000000000000000000000000000..a6b93ea5631b3d618909c55791a5eaf51038fab9 --- /dev/null +++ b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/embeddings/gripper_idx168_design_0.0012217490002512932_sim_0.000588695857856459.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9748593b6635fae4f52b59ce0f1c43f1e8559b1355f64b53b823c8e8f87d49fc +size 2915 diff --git a/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/embeddings/gripper_idx180_design_0.0011959387920796871_sim_0.0005864228605559957.npz b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/embeddings/gripper_idx180_design_0.0011959387920796871_sim_0.0005864228605559957.npz new file mode 100644 index 0000000000000000000000000000000000000000..f344d91b5a73747c2683ebd8e35c429599f9718e --- /dev/null +++ b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/embeddings/gripper_idx180_design_0.0011959387920796871_sim_0.0005864228605559957.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:573a5a21343e6e66fcdb241894b7bac230da57bf335a9620204a799e8ec81930 +size 2911 diff --git a/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/embeddings/gripper_idx192_design_0.0010017069289460778_sim_0.0005806187163819886.npz b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/embeddings/gripper_idx192_design_0.0010017069289460778_sim_0.0005806187163819886.npz new file mode 100644 index 0000000000000000000000000000000000000000..03b859c104ced094ff9e9f976fa5f809ff281f83 --- /dev/null +++ b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/embeddings/gripper_idx192_design_0.0010017069289460778_sim_0.0005806187163819886.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:821a6fee0ee91d98abf114a23ddfde2206637fc417ed5e86fd52668a27c6092d +size 2916 diff --git a/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/embeddings/gripper_idx204_design_0.0012449556961655617_sim_0.0005847696161331122.npz b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/embeddings/gripper_idx204_design_0.0012449556961655617_sim_0.0005847696161331122.npz new file mode 100644 index 0000000000000000000000000000000000000000..437457583dec2d4543caf1d80abfd98cd52b20e7 --- /dev/null +++ b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/embeddings/gripper_idx204_design_0.0012449556961655617_sim_0.0005847696161331122.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:14c54e4baf91759cef8493d2a6586c8362c9b3d9bda6902c630c11344268a921 +size 2914 diff --git a/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/Ep_Batch_-1_Sampling_0108_Local_0000.mp4 b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/Ep_Batch_-1_Sampling_0108_Local_0000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..183f3a459894211bccf3fa545fe8870ed5adb688 --- /dev/null +++ b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/Ep_Batch_-1_Sampling_0108_Local_0000.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a47d4b5663bb8948eab5c4b0fbd77808e8576c9c10a5eaa0d16743273e11c213 +size 455251 diff --git a/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/Ep_Batch_-1_Sampling_0108_Local_0001.mp4 b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/Ep_Batch_-1_Sampling_0108_Local_0001.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..3b8e661a14efd04eeaed14fb56652859aa2e7252 --- /dev/null +++ b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/Ep_Batch_-1_Sampling_0108_Local_0001.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fbc34fb678aa4997b01bcfb9061a96ebf6c624e77ae86b95b3dcf493e371a728 +size 527569 diff --git a/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/Ep_Batch_-1_Sampling_0108_Local_0002.mp4 b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/Ep_Batch_-1_Sampling_0108_Local_0002.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a4d53f411a446dcf984cc47f8660bbda49219333 --- /dev/null +++ b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/Ep_Batch_-1_Sampling_0108_Local_0002.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:27bf99aea902c57d3cb2deb00dc0b22f61239c72389a1129ee56d26ea2e40062 +size 484552 diff --git a/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/Ep_Batch_-1_Sampling_0120_Local_0000.mp4 b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/Ep_Batch_-1_Sampling_0120_Local_0000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..9249e21a2c15355ba8c5b51c2f39a5f908ed8e8d --- /dev/null +++ b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/Ep_Batch_-1_Sampling_0120_Local_0000.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6aaf4db2aba662d8a333dc55e003c6b9fb61674f666160b2849df60dbdcb4de7 +size 454237 diff --git a/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/Ep_Batch_-1_Sampling_0120_Local_0001.mp4 b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/Ep_Batch_-1_Sampling_0120_Local_0001.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..0cb1642616badff5a5098188aa718f8121651a58 --- /dev/null +++ b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/Ep_Batch_-1_Sampling_0120_Local_0001.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cdf99f2667c8b260bf8a54b072c921658e3db80fa383167011ecbefca4c3a4e5 +size 528007 diff --git a/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/Ep_Batch_-1_Sampling_0120_Local_0002.mp4 b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/Ep_Batch_-1_Sampling_0120_Local_0002.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..dd14d15f8f7be5c1939f3d954c3fbaf5a3ef7ec1 --- /dev/null +++ b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/Ep_Batch_-1_Sampling_0120_Local_0002.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e66e8a17bcc5e847bb44cfbb025e8442fdb5534b9697a7ed5013d8299528360b +size 485573 diff --git a/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/Ep_Batch_-1_Sampling_0132_Local_0000.mp4 b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/Ep_Batch_-1_Sampling_0132_Local_0000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..88979e2de3cc1e79a31ba5c4ebed4bf8a2fff1cd --- /dev/null +++ b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/Ep_Batch_-1_Sampling_0132_Local_0000.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ec15a8b094ab8d10b2f98709ce39f6debda8633b78177955dcfa9b6f31b1b17c +size 453796 diff --git a/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/Ep_Batch_-1_Sampling_0132_Local_0001.mp4 b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/Ep_Batch_-1_Sampling_0132_Local_0001.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..ebef9d84ffccc2ca6bb0b78f7011cda77a0016be --- /dev/null +++ b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/Ep_Batch_-1_Sampling_0132_Local_0001.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:11c5eed4422878a8ad28eff9ee91e7df5083276cef57554e9584859f7053b21b +size 526997 diff --git a/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/Ep_Batch_-1_Sampling_0132_Local_0002.mp4 b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/Ep_Batch_-1_Sampling_0132_Local_0002.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f46a79e5cd67c4f618902152d675a32a57ff81ba --- /dev/null +++ b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/Ep_Batch_-1_Sampling_0132_Local_0002.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bbe75e2cea1040336a5f93cdfd58c2bcc4c903d96cbe7a6a787e1b0c9b12a003 +size 483553 diff --git a/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/Ep_Batch_-1_Sampling_0144_Local_0000.mp4 b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/Ep_Batch_-1_Sampling_0144_Local_0000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..053fe4983b1c7d43d70b4166fa7f775b2a58e798 --- /dev/null +++ b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/Ep_Batch_-1_Sampling_0144_Local_0000.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d9a3bd301d434b875c16e0e0afb6fed90a27e86630350902aa4927535f632169 +size 466000 diff --git a/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/Ep_Batch_-1_Sampling_0144_Local_0001.mp4 b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/Ep_Batch_-1_Sampling_0144_Local_0001.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..42e32467ae5fbce335a6d869195d61248687b93c --- /dev/null +++ b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/Ep_Batch_-1_Sampling_0144_Local_0001.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2e0258e09476ef3f47d37ce3cc2f3c3e2ed4c078a17eb3dd8a4f7004cefc52c9 +size 549787 diff --git a/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/Ep_Batch_-1_Sampling_0144_Local_0002.mp4 b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/Ep_Batch_-1_Sampling_0144_Local_0002.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..143cbf43cefd6127474e5f587e2c62cb8c5aa516 --- /dev/null +++ b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/Ep_Batch_-1_Sampling_0144_Local_0002.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:394b540da581e15a5d12cc87de47b245d86fb25fb5ae02823a8c9891f937175c +size 498647 diff --git a/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/Ep_Batch_-1_Sampling_0156_Local_0000.mp4 b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/Ep_Batch_-1_Sampling_0156_Local_0000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..e4e8b9c50617bebc2bef989a3924bd3250f972d3 --- /dev/null +++ b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/Ep_Batch_-1_Sampling_0156_Local_0000.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:43b69f38d364604d4af05b381dd3e17e47f5eecc9b0e60c01598f7003eefa82d +size 459081 diff --git a/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/Ep_Batch_-1_Sampling_0156_Local_0001.mp4 b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/Ep_Batch_-1_Sampling_0156_Local_0001.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..0d5b8ca80a9f7b8210e38e87d718ecd16deefef8 --- /dev/null +++ b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/Ep_Batch_-1_Sampling_0156_Local_0001.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6292cc087aeedf13a90f702a188977eb62202dd2420ba188f92492235a6e01cd +size 537988 diff --git a/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/Ep_Batch_-1_Sampling_0156_Local_0002.mp4 b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/Ep_Batch_-1_Sampling_0156_Local_0002.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..de1e64fcada46e61713eaa904bf7de34e3cc2869 --- /dev/null +++ b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/Ep_Batch_-1_Sampling_0156_Local_0002.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c8a891b6cb9e3e09c067d72c459d619d3870407b656e030512358bb1e7fd7677 +size 499528 diff --git a/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/Ep_Batch_-1_Sampling_0168_Local_0000.mp4 b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/Ep_Batch_-1_Sampling_0168_Local_0000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..6990710a7860b0ae9611b5ecfafba204f30bac6e --- /dev/null +++ b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/Ep_Batch_-1_Sampling_0168_Local_0000.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a7aedda6fab7e6fa0df50c9e42e4f091a225600a1c41160b6d239681350860e5 +size 455747 diff --git a/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/Ep_Batch_-1_Sampling_0168_Local_0001.mp4 b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/Ep_Batch_-1_Sampling_0168_Local_0001.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c1a79a88048ba60b2338f5a699541395bca96167 --- /dev/null +++ b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/Ep_Batch_-1_Sampling_0168_Local_0001.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2cc418e72f41cfe21d1799e1276c8cc4201c52c0c208da3a0e1882b34e896e76 +size 533036 diff --git a/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/Ep_Batch_-1_Sampling_0168_Local_0002.mp4 b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/Ep_Batch_-1_Sampling_0168_Local_0002.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..4e952db3fba3267e40213f5b3197b68b1076e5fe --- /dev/null +++ b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/Ep_Batch_-1_Sampling_0168_Local_0002.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6870cddbac779c1e11834aac9e99390537f99d0cdacc218c9c97049e6adff99c +size 486661 diff --git a/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/Ep_Batch_-1_Sampling_0180_Local_0000.mp4 b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/Ep_Batch_-1_Sampling_0180_Local_0000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d00e2da8e972de9c6b5922cefcad98c9caf20440 --- /dev/null +++ b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/Ep_Batch_-1_Sampling_0180_Local_0000.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bac178cc1cfae56ace972eb968dd520ae8d433619cc86f1cce8931be642a079a +size 456841 diff --git a/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/Ep_Batch_-1_Sampling_0180_Local_0001.mp4 b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/Ep_Batch_-1_Sampling_0180_Local_0001.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..82c5ca8792b27425e40a8cac54bff0c88a8b9089 --- /dev/null +++ b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/Ep_Batch_-1_Sampling_0180_Local_0001.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:99ee6ed5813a5f348d346714f487382cd470af9708f17aad73ad7b47f9a6506d +size 534445 diff --git a/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/Ep_Batch_-1_Sampling_0180_Local_0002.mp4 b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/Ep_Batch_-1_Sampling_0180_Local_0002.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..2506a8e78e585b1b483f726ca9f9838cfc28b0d1 --- /dev/null +++ b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/Ep_Batch_-1_Sampling_0180_Local_0002.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5a87c013eabd2288cee5565d7f6e1ea3b4319f97d6c0368de8816523f6bc1968 +size 490342 diff --git a/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/Ep_Batch_-1_Sampling_0192_Local_0000.mp4 b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/Ep_Batch_-1_Sampling_0192_Local_0000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..320873f06f9908e15fcaf0cd6c3ab83788fc7f3d --- /dev/null +++ b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/Ep_Batch_-1_Sampling_0192_Local_0000.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:676751ec0df91c2c2ffc302fd15623858d31999e7623a8fd2e90224da011c658 +size 459105 diff --git a/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/Ep_Batch_-1_Sampling_0192_Local_0001.mp4 b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/Ep_Batch_-1_Sampling_0192_Local_0001.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..395c31f2c85c998e08bb9433c3803d9985eb3d5b --- /dev/null +++ b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/Ep_Batch_-1_Sampling_0192_Local_0001.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f76855ba24b9f3b45b12595d41ef55c934f5b980bb9a5930fcfe02f8633066a3 +size 534382 diff --git a/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/Ep_Batch_-1_Sampling_0192_Local_0002.mp4 b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/Ep_Batch_-1_Sampling_0192_Local_0002.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d23b59950cacca30031993ef670b2131bfa8f1a2 --- /dev/null +++ b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/Ep_Batch_-1_Sampling_0192_Local_0002.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e647e5eba82915ab4ec230316fcd16e853dda6e9913da25f8a54f3d1c32f3198 +size 504333 diff --git a/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/Ep_Batch_-1_Sampling_0204_Local_0000.mp4 b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/Ep_Batch_-1_Sampling_0204_Local_0000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..75b5122ab0edf0fdeb57df250e3d661b18c99270 --- /dev/null +++ b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/Ep_Batch_-1_Sampling_0204_Local_0000.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f65a2a59ee1a71d329daea70fab4761401d76a72986bf936d9c276dc767a02a0 +size 446516 diff --git a/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/Ep_Batch_-1_Sampling_0204_Local_0001.mp4 b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/Ep_Batch_-1_Sampling_0204_Local_0001.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d31a0df7c0c07f72ff1e68d74bec4b5c77507f11 --- /dev/null +++ b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/Ep_Batch_-1_Sampling_0204_Local_0001.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:04a657ff061196454d3ce31d3d4bec3e170cfe601b9b5fefd6bb7c9bf196f5d6 +size 521030 diff --git a/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/Ep_Batch_-1_Sampling_0204_Local_0002.mp4 b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/Ep_Batch_-1_Sampling_0204_Local_0002.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..955ffc3ddce10a18cec8fb9bb182997882bd0cd2 --- /dev/null +++ b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/Ep_Batch_-1_Sampling_0204_Local_0002.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d6e95977f3f345b3a0296b1e111faf4224e4ef22dca6a74d683220a6417afa90 +size 469560 diff --git a/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/design/geometry_sampling_0_iter_112_batch_0.ply b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/design/geometry_sampling_0_iter_112_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..660d53758442cc532dc62c926cd98c365d32b1bd Binary files /dev/null and b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/design/geometry_sampling_0_iter_112_batch_0.ply differ diff --git a/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/design/geometry_sampling_0_iter_120_batch_0.ply b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/design/geometry_sampling_0_iter_120_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..a49d9e40d8675ed69a1ec60b3254795914178e7e Binary files /dev/null and b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/design/geometry_sampling_0_iter_120_batch_0.ply differ diff --git a/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/design/geometry_sampling_0_iter_128_batch_0.ply b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/design/geometry_sampling_0_iter_128_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..22ddcefe143942fa66fdcaadeddcff8b36530622 Binary files /dev/null and b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/design/geometry_sampling_0_iter_128_batch_0.ply differ diff --git a/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/design/geometry_sampling_0_iter_136_batch_0.ply b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/design/geometry_sampling_0_iter_136_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..516862d5f6b7096d46735f840eeb3a8cedc54ef1 Binary files /dev/null and b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/design/geometry_sampling_0_iter_136_batch_0.ply differ diff --git a/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/design/geometry_sampling_0_iter_144_batch_0.ply b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/design/geometry_sampling_0_iter_144_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..d4e8ff2271c6218445adf90b7e4e068d7a77b7f9 Binary files /dev/null and b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/design/geometry_sampling_0_iter_144_batch_0.ply differ diff --git a/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/design/geometry_sampling_0_iter_152_batch_0.ply b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/design/geometry_sampling_0_iter_152_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..0ee8f4cefd9a0041489d6943c06029ec603fe6ab Binary files /dev/null and b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/design/geometry_sampling_0_iter_152_batch_0.ply differ diff --git a/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/design/geometry_sampling_0_iter_160_batch_0.ply b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/design/geometry_sampling_0_iter_160_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..61f835b51fdb9d0fedb168fbb15dd708332d6bcb Binary files /dev/null and b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/design/geometry_sampling_0_iter_160_batch_0.ply differ diff --git a/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/design/geometry_sampling_0_iter_168_batch_0.ply b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/design/geometry_sampling_0_iter_168_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..bb72d4af6dbcf7a3179f72ee5a29d0a7678c26c0 Binary files /dev/null and b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/design/geometry_sampling_0_iter_168_batch_0.ply differ diff --git a/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/design/geometry_sampling_0_iter_176_batch_0.ply b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/design/geometry_sampling_0_iter_176_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..4f7fe1d2490045d1c227ffcba2a2acfd788b77c3 Binary files /dev/null and b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/design/geometry_sampling_0_iter_176_batch_0.ply differ diff --git a/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/design/geometry_sampling_0_iter_184_batch_0.ply b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/design/geometry_sampling_0_iter_184_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..37b066232be3711291785071b6b3191a1f51e77c Binary files /dev/null and b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/design/geometry_sampling_0_iter_184_batch_0.ply differ diff --git a/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/design/geometry_sampling_0_iter_192_batch_0.ply b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/design/geometry_sampling_0_iter_192_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..e895d7a1aff3a6924bc1c2300d083d596d2b0c00 Binary files /dev/null and b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/design/geometry_sampling_0_iter_192_batch_0.ply differ diff --git a/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/design/geometry_sampling_0_iter_200_batch_0.ply b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/design/geometry_sampling_0_iter_200_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..38ced6df292ae21dc22bc993a3755238e3e8acc1 Binary files /dev/null and b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/design/geometry_sampling_0_iter_200_batch_0.ply differ diff --git a/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/design/gripper_batch_-1.npz b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/design/gripper_batch_-1.npz index b7dace13366cdcabc6e764ab64b626d7e8422dae..437457583dec2d4543caf1d80abfd98cd52b20e7 100644 --- a/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/design/gripper_batch_-1.npz +++ b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/design/gripper_batch_-1.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:98679471161be8875e313cb58469160f9a8876cff83347144a872ef5821cd76b -size 2910 +oid sha256:14c54e4baf91759cef8493d2a6586c8362c9b3d9bda6902c630c11344268a921 +size 2914 diff --git a/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/design/mesh_sampling_0_iter_112_batch_0.ply b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/design/mesh_sampling_0_iter_112_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..fe4beebbb5bc1443818a094bafc19a1211a6a376 Binary files /dev/null and b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/design/mesh_sampling_0_iter_112_batch_0.ply differ diff --git a/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/design/mesh_sampling_0_iter_120_batch_0.ply b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/design/mesh_sampling_0_iter_120_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..842d24f46b2dbad9cc04a96392daed9108082aa0 Binary files /dev/null and b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/design/mesh_sampling_0_iter_120_batch_0.ply differ diff --git a/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/design/mesh_sampling_0_iter_128_batch_0.ply b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/design/mesh_sampling_0_iter_128_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..da50c10a346ede407a0b45482c01013616abe7c7 Binary files /dev/null and b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/design/mesh_sampling_0_iter_128_batch_0.ply differ diff --git a/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/design/mesh_sampling_0_iter_136_batch_0.ply b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/design/mesh_sampling_0_iter_136_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..ece73a0115262d03c791f76fa1aec32415f77cbb Binary files /dev/null and b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/design/mesh_sampling_0_iter_136_batch_0.ply differ diff --git a/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/design/mesh_sampling_0_iter_144_batch_0.ply b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/design/mesh_sampling_0_iter_144_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..8b200a9d39e69e276c10f18d86e3059dd61e6695 Binary files /dev/null and b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/design/mesh_sampling_0_iter_144_batch_0.ply differ diff --git a/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/design/mesh_sampling_0_iter_152_batch_0.ply b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/design/mesh_sampling_0_iter_152_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..03526c065e0cfdf265f29f5235c7b4c724202667 Binary files /dev/null and b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/design/mesh_sampling_0_iter_152_batch_0.ply differ diff --git a/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/design/mesh_sampling_0_iter_160_batch_0.ply b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/design/mesh_sampling_0_iter_160_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..904c81b10ad6bc8ad3f7d1c798043c610784e9c9 Binary files /dev/null and b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/design/mesh_sampling_0_iter_160_batch_0.ply differ diff --git a/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/design/mesh_sampling_0_iter_168_batch_0.ply b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/design/mesh_sampling_0_iter_168_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..b79176d37f4ffa48b018a754d18cc3a6f27bd019 Binary files /dev/null and b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/design/mesh_sampling_0_iter_168_batch_0.ply differ diff --git a/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/design/mesh_sampling_0_iter_176_batch_0.ply b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/design/mesh_sampling_0_iter_176_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..b4c4a112d8b580d5e5a3139e44715f112e58bd4b Binary files /dev/null and b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/design/mesh_sampling_0_iter_176_batch_0.ply differ diff --git a/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/design/mesh_sampling_0_iter_184_batch_0.ply b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/design/mesh_sampling_0_iter_184_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..c3d3e644f95089c37e27e3651136125a5b688a4e Binary files /dev/null and b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/design/mesh_sampling_0_iter_184_batch_0.ply differ diff --git a/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/design/mesh_sampling_0_iter_192_batch_0.ply b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/design/mesh_sampling_0_iter_192_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..19d763804c23908d9efd85667677fad09a3b263e Binary files /dev/null and b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/design/mesh_sampling_0_iter_192_batch_0.ply differ diff --git a/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/design/mesh_sampling_0_iter_200_batch_0.ply b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/design/mesh_sampling_0_iter_200_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..d77c9200cb07ddc97ad60304c089179ea15ce206 Binary files /dev/null and b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/softzoo/design/mesh_sampling_0_iter_200_batch_0.ply differ diff --git a/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/viz_gripper_dir/gripper_idx108_design_0.001280883327126503_sim_0.0005859784452289923.ply b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/viz_gripper_dir/gripper_idx108_design_0.001280883327126503_sim_0.0005859784452289923.ply new file mode 100644 index 0000000000000000000000000000000000000000..256f64b185a0c368e14f21d0a3cd341640de5fdf --- /dev/null +++ b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/viz_gripper_dir/gripper_idx108_design_0.001280883327126503_sim_0.0005859784452289923.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:af168607c9e138b19eb24fa18501768bb0e1e6a61f46d0c438c9022df45e4079 +size 685090 diff --git a/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/viz_gripper_dir/gripper_idx120_design_0.0012766883010044694_sim_0.0005861749636105684.ply b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/viz_gripper_dir/gripper_idx120_design_0.0012766883010044694_sim_0.0005861749636105684.ply new file mode 100644 index 0000000000000000000000000000000000000000..91685d28c4625ea1a56e242c856cd5b2cb901ebf --- /dev/null +++ b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/viz_gripper_dir/gripper_idx120_design_0.0012766883010044694_sim_0.0005861749636105684.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1ec7cc473c710a9289bf64d4a38769eaad1c7733b2d49a642b5a15dc8418ba28 +size 685090 diff --git a/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/viz_gripper_dir/gripper_idx132_design_0.0012922913301736116_sim_0.0005887001416393442.ply b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/viz_gripper_dir/gripper_idx132_design_0.0012922913301736116_sim_0.0005887001416393442.ply new file mode 100644 index 0000000000000000000000000000000000000000..7e4d7fb55199b1a0e859fa4734e8b31567604a4d --- /dev/null +++ b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/viz_gripper_dir/gripper_idx132_design_0.0012922913301736116_sim_0.0005887001416393442.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7eefc262e584b65a8a6a5ca6d8be5139912813554c53d958c0192044efbdc7ed +size 685090 diff --git a/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/viz_gripper_dir/gripper_idx144_design_0.0014811126748099923_sim_0.0005870938794279473.ply b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/viz_gripper_dir/gripper_idx144_design_0.0014811126748099923_sim_0.0005870938794279473.ply new file mode 100644 index 0000000000000000000000000000000000000000..ebbd454892730fc156317b3d60d3e07a5d047ea4 --- /dev/null +++ b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/viz_gripper_dir/gripper_idx144_design_0.0014811126748099923_sim_0.0005870938794279473.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5004a0451aae4459b6fe20f02b79273f6e4de35d83e15c660223dcda4413e4f4 +size 650638 diff --git a/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/viz_gripper_dir/gripper_idx156_design_0.0013934749877080321_sim_0.0005832622832901606.ply b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/viz_gripper_dir/gripper_idx156_design_0.0013934749877080321_sim_0.0005832622832901606.ply new file mode 100644 index 0000000000000000000000000000000000000000..de9b94171ee77640b407ac3fca3d0fa254971c2f --- /dev/null +++ b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/viz_gripper_dir/gripper_idx156_design_0.0013934749877080321_sim_0.0005832622832901606.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c39773836b8019c62faeb8011160e01720e9aba4be56a5efb6ba1b12d6871845 +size 650638 diff --git a/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/viz_gripper_dir/gripper_idx168_design_0.0012217490002512932_sim_0.000588695857856459.ply b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/viz_gripper_dir/gripper_idx168_design_0.0012217490002512932_sim_0.000588695857856459.ply new file mode 100644 index 0000000000000000000000000000000000000000..a9b769c528cf3441d42cec26233a5fe146eaf9f5 --- /dev/null +++ b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/viz_gripper_dir/gripper_idx168_design_0.0012217490002512932_sim_0.000588695857856459.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:565a8a3884d5013a31e7776a3810a0d2bec37200e7bae079e37ec3dc9b52e8de +size 650638 diff --git a/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/viz_gripper_dir/gripper_idx180_design_0.0011959387920796871_sim_0.0005864228605559957.ply b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/viz_gripper_dir/gripper_idx180_design_0.0011959387920796871_sim_0.0005864228605559957.ply new file mode 100644 index 0000000000000000000000000000000000000000..095f78cde95ac15a1a4ea6d7616a2e7d48b6fb7f --- /dev/null +++ b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/viz_gripper_dir/gripper_idx180_design_0.0011959387920796871_sim_0.0005864228605559957.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f22efbfc1ffdb67d473f000fc0a529a7708badf22e6a18ca232e9b2efa0ec123 +size 650638 diff --git a/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/viz_gripper_dir/gripper_idx192_design_0.0010017069289460778_sim_0.0005806187163819886.ply b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/viz_gripper_dir/gripper_idx192_design_0.0010017069289460778_sim_0.0005806187163819886.ply new file mode 100644 index 0000000000000000000000000000000000000000..1e5c5a327ae57c13d62bfcaf934c04d351d06502 --- /dev/null +++ b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/viz_gripper_dir/gripper_idx192_design_0.0010017069289460778_sim_0.0005806187163819886.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:68d4a6aa5bd569d1aa19ab890f420a92acfebd34b2365a5636b26db0f394384b +size 650638 diff --git a/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/viz_gripper_dir/gripper_idx204_design_0.0012449556961655617_sim_0.0005847696161331122.ply b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/viz_gripper_dir/gripper_idx204_design_0.0012449556961655617_sim_0.0005847696161331122.ply new file mode 100644 index 0000000000000000000000000000000000000000..89961142cc8e1ceb3a719ecece8e33fa969824b8 --- /dev/null +++ b/20260114_155715_noprompt_gumbel_lessangled005_hand_geo5e-2_topo5e-2_accum3_seed54621/viz_gripper_dir/gripper_idx204_design_0.0012449556961655617_sim_0.0005847696161331122.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:93886ccd4c35921966ced8bd6d23891f4db6e843170d17125013a15a0ab583ed +size 719542 diff --git a/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/cmd_config.yaml b/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/cmd_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b15859a85720e811fc5a17aa9d94a542b6167c92 --- /dev/null +++ b/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/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: lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3 +fixed_v_file: gripping_5_HTP.json +geometry_lr: 0.02 +grad_clipping: 0.1 +gripper_dim: 12 +gumbel: true +init_emb_path: asset/embeddings/hand_stump_1_hard_075_3_soft_03.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/less_spread_prompt.yaml +patience: 10 +seed: 4567 +stop_mode: min +topo_lr: 0.02 +viewpoint: +- -1.0 +- -0.25 +- -0.1 +zero_grad_dims: +- 8 +- 9 +- 10 +- 11 diff --git a/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/config.yaml b/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..dd64aab2259a63afab68f5610d4fb4d039a8c450 --- /dev/null +++ b/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/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.e-1,0.1,1.e-4,0.05] + + 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,-3.5,-1.5] + + design_device: cpu + obj_initial_pos: [0,0,0] + num_fingers: 2 diff --git a/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/embeddings/gripper_idx0_design_0.005392279010266066_sim_0.0005907073315053265.npz b/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/embeddings/gripper_idx0_design_0.005392279010266066_sim_0.0005907073315053265.npz new file mode 100644 index 0000000000000000000000000000000000000000..28f1c1d6a8cee6fb9f1b9e5bb6770fca94ede036 --- /dev/null +++ b/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/embeddings/gripper_idx0_design_0.005392279010266066_sim_0.0005907073315053265.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:51cd821e324579692a1ba1e488e4a712c70507bf03816e27feea66fd8573db42 +size 1399 diff --git a/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/embeddings/gripper_idx12_design_0.005024786107242107_sim_0.0005858468845474569.npz b/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/embeddings/gripper_idx12_design_0.005024786107242107_sim_0.0005858468845474569.npz new file mode 100644 index 0000000000000000000000000000000000000000..3437cbeed0b288e689d210911d9a9b2e8378e8e5 --- /dev/null +++ b/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/embeddings/gripper_idx12_design_0.005024786107242107_sim_0.0005858468845474569.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:46244acd75b1a80dc8320f3c830f2f7f710d5c71c6b0b30fa399843e5ec367b3 +size 2876 diff --git a/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/embeddings/gripper_idx24_design_0.0048478334210813046_sim_0.0005908362832852595.npz b/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/embeddings/gripper_idx24_design_0.0048478334210813046_sim_0.0005908362832852595.npz new file mode 100644 index 0000000000000000000000000000000000000000..3979b29332328bfbc47fef0957b0b2d75a39169d --- /dev/null +++ b/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/embeddings/gripper_idx24_design_0.0048478334210813046_sim_0.0005908362832852595.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6551ae21328b498b6cbb87467a277705e3af66de99a4be54303e4e20f84232ab +size 2880 diff --git a/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/embeddings/gripper_idx36_design_0.004797336645424366_sim_0.0005906087153089013.npz b/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/embeddings/gripper_idx36_design_0.004797336645424366_sim_0.0005906087153089013.npz new file mode 100644 index 0000000000000000000000000000000000000000..be0280a952af65871f734e68878c2108f3cb5bc9 --- /dev/null +++ b/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/embeddings/gripper_idx36_design_0.004797336645424366_sim_0.0005906087153089013.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5db799443364e5749777beae2fda01906bd7451c8c83baacd8716694efc05dc7 +size 2897 diff --git a/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/embeddings/gripper_idx48_design_0.004716844297945499_sim_0.0005907211988220023.npz b/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/embeddings/gripper_idx48_design_0.004716844297945499_sim_0.0005907211988220023.npz new file mode 100644 index 0000000000000000000000000000000000000000..507ebf7741f54a9f4e07a85be0e8373be1383908 --- /dev/null +++ b/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/embeddings/gripper_idx48_design_0.004716844297945499_sim_0.0005907211988220023.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:732d1b3c5c21bae30c86bf8915167b3e678e9899142e271b0d03fd8bffc4caf5 +size 2900 diff --git a/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/softzoo/Ep_Batch_-1_Sampling_0000_Local_0000.mp4 b/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/softzoo/Ep_Batch_-1_Sampling_0000_Local_0000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d1affcfe43e9f70b123ff9c4a155fd1d1517a28e --- /dev/null +++ b/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/softzoo/Ep_Batch_-1_Sampling_0000_Local_0000.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bcd45f25d28a94f0c1c616f01a0f39446b7c5979a316f5c569f47abe4cad0c15 +size 435958 diff --git a/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/softzoo/Ep_Batch_-1_Sampling_0000_Local_0001.mp4 b/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/softzoo/Ep_Batch_-1_Sampling_0000_Local_0001.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..8c31b27152019ea13facae935429c94cdc195baa --- /dev/null +++ b/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/softzoo/Ep_Batch_-1_Sampling_0000_Local_0001.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ecd9dde1b52edc41d147088ccd5cf865e49ba0a9727c6d78c029b5f983ee09dc +size 508262 diff --git a/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/softzoo/Ep_Batch_-1_Sampling_0000_Local_0002.mp4 b/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/softzoo/Ep_Batch_-1_Sampling_0000_Local_0002.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..973bfb3a6ebb7fcdfcf7ebde11f0dcf1f342e8e7 --- /dev/null +++ b/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/softzoo/Ep_Batch_-1_Sampling_0000_Local_0002.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bb0d70264b19400cb0219c05085b4f9792e12d7a35a899b356bdfb6ffe98260b +size 457715 diff --git a/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/softzoo/Ep_Batch_-1_Sampling_0012_Local_0000.mp4 b/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/softzoo/Ep_Batch_-1_Sampling_0012_Local_0000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c17181a5f1693dd1c744672cbd0550a29386c364 --- /dev/null +++ b/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/softzoo/Ep_Batch_-1_Sampling_0012_Local_0000.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a302668c31fcff65c8b2d5e821610267a42e6d8e50170b8fc5d7ce2d1f7a22a1 +size 439152 diff --git a/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/softzoo/Ep_Batch_-1_Sampling_0012_Local_0001.mp4 b/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/softzoo/Ep_Batch_-1_Sampling_0012_Local_0001.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..6313f73625f412da94323152918b8c2322d437a2 --- /dev/null +++ b/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/softzoo/Ep_Batch_-1_Sampling_0012_Local_0001.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1e5b6633bf3e693be864403f8d136669ec1fb382db7f50cfebf3b5d6448cb287 +size 506939 diff --git a/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/softzoo/Ep_Batch_-1_Sampling_0012_Local_0002.mp4 b/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/softzoo/Ep_Batch_-1_Sampling_0012_Local_0002.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..96503aeb95001e10bba77be61868c4dffbad71ac --- /dev/null +++ b/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/softzoo/Ep_Batch_-1_Sampling_0012_Local_0002.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4fe317ad0d5d4ca53925bbc843fda69598ab40f57a97f1784a14138cae4adf14 +size 454464 diff --git a/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/softzoo/Ep_Batch_-1_Sampling_0024_Local_0000.mp4 b/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/softzoo/Ep_Batch_-1_Sampling_0024_Local_0000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..240b461bde1ff8e5eeebdd9dcfd6050bef60d7a5 --- /dev/null +++ b/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/softzoo/Ep_Batch_-1_Sampling_0024_Local_0000.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9df6a3e8b279c93182c4aad0c2ccabe46c132f28e81080ffdd5f2caf52a4d7bc +size 435855 diff --git a/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/softzoo/Ep_Batch_-1_Sampling_0024_Local_0001.mp4 b/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/softzoo/Ep_Batch_-1_Sampling_0024_Local_0001.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c336b544be7a06964946b47f80e969e8c5cdc043 --- /dev/null +++ b/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/softzoo/Ep_Batch_-1_Sampling_0024_Local_0001.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1063ce82f00e9c69f203592657dddf37d1e5323168b1f4f35942d111cfa26adb +size 502363 diff --git a/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/softzoo/Ep_Batch_-1_Sampling_0024_Local_0002.mp4 b/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/softzoo/Ep_Batch_-1_Sampling_0024_Local_0002.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..718e2141080cdf170be80750b7696018652119df --- /dev/null +++ b/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/softzoo/Ep_Batch_-1_Sampling_0024_Local_0002.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0d4c86d55bee5e770e9eb3a1487fdcc695204acf9ba23308add40bc1715404d2 +size 453854 diff --git a/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/softzoo/Ep_Batch_-1_Sampling_0036_Local_0000.mp4 b/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/softzoo/Ep_Batch_-1_Sampling_0036_Local_0000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..2a02ef77b23429ebf243bc42e324f7a6688c350d --- /dev/null +++ b/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/softzoo/Ep_Batch_-1_Sampling_0036_Local_0000.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:422ef9992f152ef9b9cc03bb6ab376824ce7d8b40c65958fd0a1c1126f8d089f +size 435680 diff --git a/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/softzoo/Ep_Batch_-1_Sampling_0036_Local_0001.mp4 b/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/softzoo/Ep_Batch_-1_Sampling_0036_Local_0001.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b5bf80ca541ae7ff4a20bd74b0a9dc4ad471b2ec --- /dev/null +++ b/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/softzoo/Ep_Batch_-1_Sampling_0036_Local_0001.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2d0d576883e3c2f4a94abcc1732862c318e3bbf9b0c7fe08d7172d1646cf6fe8 +size 513441 diff --git a/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/softzoo/Ep_Batch_-1_Sampling_0036_Local_0002.mp4 b/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/softzoo/Ep_Batch_-1_Sampling_0036_Local_0002.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..66122fd3b87b1d23a9e4b0b78f302170f39f2090 --- /dev/null +++ b/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/softzoo/Ep_Batch_-1_Sampling_0036_Local_0002.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dfd296f29489eb62e6b648af8b6f6c820f8a90a8702596a0c91248ca1713fd76 +size 461202 diff --git a/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/softzoo/Ep_Batch_-1_Sampling_0048_Local_0000.mp4 b/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/softzoo/Ep_Batch_-1_Sampling_0048_Local_0000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c03ba5a34348eaeb9d9d4f83322328a58def5392 --- /dev/null +++ b/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/softzoo/Ep_Batch_-1_Sampling_0048_Local_0000.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:aca4c42dca8aa224393af62063813a5858438105ecb883cb9952947c55b115a1 +size 436165 diff --git a/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/softzoo/Ep_Batch_-1_Sampling_0048_Local_0001.mp4 b/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/softzoo/Ep_Batch_-1_Sampling_0048_Local_0001.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..5c60796b6dcc10b95c4b01789b5b5940013d03e5 --- /dev/null +++ b/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/softzoo/Ep_Batch_-1_Sampling_0048_Local_0001.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:58d5dae195814bff2df9449d35638bd72603a5e35b9f9fe64115c90079f72917 +size 512827 diff --git a/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/softzoo/Ep_Batch_-1_Sampling_0048_Local_0002.mp4 b/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/softzoo/Ep_Batch_-1_Sampling_0048_Local_0002.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..8faf1cc4364a605a9560620db050e0aaea005847 --- /dev/null +++ b/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/softzoo/Ep_Batch_-1_Sampling_0048_Local_0002.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3e169844cbb14f71f4e891048262a5bfbf778c7cb94edbdc45935c918848087b +size 458024 diff --git a/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/softzoo/ckpt/args.json b/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/softzoo/ckpt/args.json new file mode 100644 index 0000000000000000000000000000000000000000..07eaca1df69448369f2ceba484da310957190a18 --- /dev/null +++ b/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/softzoo/ckpt/args.json @@ -0,0 +1,242 @@ +{ + "action_space": "actuation", + "action_v_strength": 0.35, + "active": true, + "actuation_activation": "linear", + "actuation_omega": [ + 30.0 + ], + "annotated_pcd_n_voxels": 60, + "annotated_pcd_passive_geometry_mul": 0.5, + "annotated_pcd_passive_softness_mul": 10, + "annotated_pcd_path": null, + "closed_loop_actuation_omega": [ + 30.0 + ], + "closed_loop_n_sin_waves": 4, + "closed_loop_sinwave_activation": "Tanh", + "closed_loop_sinwave_hidden_filters": [ + 32, + 32 + ], + "closed_loop_sinwave_obs_names": [ + "com", + "objective" + ], + "com_x_mul": [ + 1.0, + 2.0, + 1.0 + ], + "controller_lr": 0.003, + "controller_mlp_activation": "Tanh", + "controller_mlp_final_activation": null, + "controller_mlp_hidden_filters": [ + 32, + 32 + ], + "controller_obs_names": [ + "com", + "objective" + ], + "controller_type": "all_on", + "cppn_activation_options": [ + "sin", + "sigmoid" + ], + "cppn_activation_repeat": 10, + "cppn_coord_input_names": [ + "x", + "y", + "z", + "d_xy", + "d_yz", + "d_xz", + "d_xyz" + ], + "cppn_n_hiddens": 3, + "cppn_seed_meshes": [], + "custom_gravity": false, + "desc_prompt": "base.txt", + "design_device": "cpu", + "design_loss_coeffs": [ + 0.1, + 0.1, + 0.0001, + 0.05 + ], + "design_loss_types": [ + "FingerPenLoss", + "SelfFingerPenLoss", + "CLIPLoss", + "AngleLoss" + ], + "designer_geometry_offset": 0.5, + "designer_lr": 0.1, + "designer_softness_offset": 0.5, + "designer_type": "mlp", + "device_memory_fraction": 0.775, + "dump_rendering_data": false, + "env": "land_environment", + "env_config_file": "gripping_a_5_HTP_a_0.5_-0.5_-0.5_0.5_a_0.5.yaml", + "eval": false, + "final_target_idx": null, + "fixed_v": "gripping_5_HTP.json", + "gen_pointe_bounding_box": { + "max": [ + 1.5, + 0.1, + 1.5 + ], + "min": [ + -1.5, + -3.5, + -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 + ], + "obj_particle_id": 2, + "obj_v_mul": [ + 1.0, + 0.0, + 0.0 + ], + "obj_x_mul": [ + 0.0, + 1.0, + 0.0 + ], + "objective_reward_mode": null, + "objects_set_file": "objects_set_a_1.json", + "optimize_controller": true, + "optimize_design_types": [ + "geometry", + "softness_E", + "softness_v", + "suction_val" + ], + "optimize_designer": true, + "out_dir": "./logs/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/softzoo", + "recenter_mesh_target": false, + "render_every_iter": 8, + "rotation_up_direction": [ + 0.0, + 1.0, + 0.0 + ], + "save_controller": false, + "save_designer": false, + "save_every_iter": 12, + "sdf_basis_actuator_mul": 1.0, + "sdf_basis_coefs_activation": "linear", + "sdf_basis_init_coefs_actuator": null, + "sdf_basis_init_coefs_actuator_direction": null, + "sdf_basis_init_coefs_geometry": null, + "sdf_basis_init_coefs_softness": null, + "sdf_basis_mesh_paths": [], + "sdf_basis_n_voxels": 60, + "sdf_basis_passive_geometry_mul": 0.5, + "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/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/softzoo/ckpt/env_config.yaml b/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/softzoo/ckpt/env_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..21f7a6c25f70b02c4491846a086c6c5aee04cef2 --- /dev/null +++ b/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/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 + - -0.5 + - -0.5 + - 0.5 + initial_velocity: + - 0.0 + - 0.0 + - 0.0 + material: FakeRigid + particle_id: 2 + sample_density: 16 + scale: + - 0.5 + - 0.5 + - 0.5 + semantic_id: 2 + type: Primitive.Mesh + particle_info: + p_rho_0: !!float 7.e+2 # [6e+2, 5e+3] + actuation_strength: 0.3 + design_space: pbr + design_space_config: + base_shape: + initial_position: + - 0.55 + - 0.225 + - 0.4 + initial_velocity: + - 0.0 + - 0.0 + - 0.0 + material: DiffAquaMuscle + particle_id: 3 + particle_info: + E_0: 7.5e+4 + nu_0: 0.3 + p_rho_0: 1000.0 + sample_density: 45 + semantic_id: 3 + size: + - 0.1 + - 0.1 + - 0.1 + type: Primitive.Box + initial_principle_direction: + - 1.0 + - 0.0 + - 0.0 + n_actuators: 101 + p_rho_lower_bound_mul: 0.1 + objective: throw_object + objective_config: + forward_direction: + - 0.0 + - 1.0 + - 0.0 + max_episode_steps: 100 + obj_particles_id: 2 + reward_mode: final + observation_space: + - time + - com + use_renderer: false +RENDERER: + GGUI: + ambient_light: + - 0.5 + - 0.5 + - 0.5 + camera_lookat: + - 0.5 + - 0.1 + - 0.5 + camera_position: + - 0.5 + - 0.25 + - 0.05 + ground_surface_cmap: textures/ground.png + particle_coloring_mode: actuation + particle_radius: 0.002 + res: + - 1920 + - 1080 + type: ggui +SIMULATOR: + base_active_materials: [] + checkpoint_cache_device: torch_cpu + default_dt: 1.e-4 + dim: 3 + gravity: + - 0.0 + - -3.8 + - 0.0 + max_actuation: 101 + max_num_particles: 55000 + max_substeps: 10000 + max_substeps_local: 25 + needs_grad: true + padding: + - 28 + - 3 + - 28 + quality: 0.82 + use_checkpointing: true + use_dynamic_field: false diff --git a/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/softzoo/design/geometry_sampling_0_iter_0_batch_0.ply b/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/softzoo/design/geometry_sampling_0_iter_0_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..3698094b96c757cf70cb72d0e658b92550d96e91 Binary files /dev/null and b/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/softzoo/design/geometry_sampling_0_iter_0_batch_0.ply differ diff --git a/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/softzoo/design/geometry_sampling_0_iter_16_batch_0.ply b/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/softzoo/design/geometry_sampling_0_iter_16_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..a2eaaed85a329bc87f0ea391cb96edfb8ee3d46b Binary files /dev/null and b/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/softzoo/design/geometry_sampling_0_iter_16_batch_0.ply differ diff --git a/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/softzoo/design/geometry_sampling_0_iter_24_batch_0.ply b/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/softzoo/design/geometry_sampling_0_iter_24_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..dd033a4524581fe2373aeff9afaee08e16e2fe40 Binary files /dev/null and b/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/softzoo/design/geometry_sampling_0_iter_24_batch_0.ply differ diff --git a/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/softzoo/design/geometry_sampling_0_iter_32_batch_0.ply b/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/softzoo/design/geometry_sampling_0_iter_32_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..509d32a9bdc96db3df67a1551824cacd5d386735 Binary files /dev/null and b/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/softzoo/design/geometry_sampling_0_iter_32_batch_0.ply differ diff --git a/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/softzoo/design/geometry_sampling_0_iter_40_batch_0.ply b/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/softzoo/design/geometry_sampling_0_iter_40_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..3d134bae06bb456e72bee019296b5f453b132f72 Binary files /dev/null and b/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/softzoo/design/geometry_sampling_0_iter_40_batch_0.ply differ diff --git a/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/softzoo/design/geometry_sampling_0_iter_48_batch_0.ply b/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/softzoo/design/geometry_sampling_0_iter_48_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..4827f4ee0a393ec2363b30051a36472e62eb026d Binary files /dev/null and b/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/softzoo/design/geometry_sampling_0_iter_48_batch_0.ply differ diff --git a/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/softzoo/design/geometry_sampling_0_iter_8_batch_0.ply b/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/softzoo/design/geometry_sampling_0_iter_8_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..4b59448ff54aec5d82ec736ef16406daa00ae956 Binary files /dev/null and b/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/softzoo/design/geometry_sampling_0_iter_8_batch_0.ply differ diff --git a/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/softzoo/design/gripper_batch_-1.npz b/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/softzoo/design/gripper_batch_-1.npz new file mode 100644 index 0000000000000000000000000000000000000000..507ebf7741f54a9f4e07a85be0e8373be1383908 --- /dev/null +++ b/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/softzoo/design/gripper_batch_-1.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:732d1b3c5c21bae30c86bf8915167b3e678e9899142e271b0d03fd8bffc4caf5 +size 2900 diff --git a/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/softzoo/design/mesh_sampling_0_iter_0_batch_0.ply b/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/softzoo/design/mesh_sampling_0_iter_0_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..0fef83a16e1234609ee37c9717e71584ae964b4a Binary files /dev/null and b/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/softzoo/design/mesh_sampling_0_iter_0_batch_0.ply differ diff --git a/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/softzoo/design/mesh_sampling_0_iter_16_batch_0.ply b/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/softzoo/design/mesh_sampling_0_iter_16_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..d4b8dbc4c7b90bba7cadfb77675dfce767586a9f Binary files /dev/null and b/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/softzoo/design/mesh_sampling_0_iter_16_batch_0.ply differ diff --git a/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/softzoo/design/mesh_sampling_0_iter_24_batch_0.ply b/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/softzoo/design/mesh_sampling_0_iter_24_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..4e6051d89b58779660249b6d6cbfa83588e531d3 Binary files /dev/null and b/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/softzoo/design/mesh_sampling_0_iter_24_batch_0.ply differ diff --git a/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/softzoo/design/mesh_sampling_0_iter_32_batch_0.ply b/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/softzoo/design/mesh_sampling_0_iter_32_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..14198c79712430937cb107b6ef890181ccf15db9 Binary files /dev/null and b/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/softzoo/design/mesh_sampling_0_iter_32_batch_0.ply differ diff --git a/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/softzoo/design/mesh_sampling_0_iter_40_batch_0.ply b/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/softzoo/design/mesh_sampling_0_iter_40_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..44b2ef979de2cc12fe0caa0279c5837c9cfef6c2 Binary files /dev/null and b/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/softzoo/design/mesh_sampling_0_iter_40_batch_0.ply differ diff --git a/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/softzoo/design/mesh_sampling_0_iter_48_batch_0.ply b/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/softzoo/design/mesh_sampling_0_iter_48_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..7981a7fe4e45d7d22229ea1cb0ec2f91bd8c1a30 Binary files /dev/null and b/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/softzoo/design/mesh_sampling_0_iter_48_batch_0.ply differ diff --git a/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/softzoo/design/mesh_sampling_0_iter_8_batch_0.ply b/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/softzoo/design/mesh_sampling_0_iter_8_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..5bb6aa0b89c2fd4504c565f267923496d04e092c Binary files /dev/null and b/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/softzoo/design/mesh_sampling_0_iter_8_batch_0.ply differ diff --git a/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/training.log b/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/training.log new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/training_log.csv b/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/training_log.csv new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/viz_gripper_dir/gripper_idx0_design_0.005392279010266066_sim_0.0005907073315053265.ply b/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/viz_gripper_dir/gripper_idx0_design_0.005392279010266066_sim_0.0005907073315053265.ply new file mode 100644 index 0000000000000000000000000000000000000000..572e81d998824900649def077d61c0576da63cb4 --- /dev/null +++ b/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/viz_gripper_dir/gripper_idx0_design_0.005392279010266066_sim_0.0005907073315053265.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6120f7625452b40db610d6172c1bd08007a369f4459a7eeb4b03b9634c98a354 +size 960706 diff --git a/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/viz_gripper_dir/gripper_idx12_design_0.005024786107242107_sim_0.0005858468845474569.ply b/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/viz_gripper_dir/gripper_idx12_design_0.005024786107242107_sim_0.0005858468845474569.ply new file mode 100644 index 0000000000000000000000000000000000000000..3e2b7b9487a21bca0bea98ab93a18f11c3ee2313 --- /dev/null +++ b/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/viz_gripper_dir/gripper_idx12_design_0.005024786107242107_sim_0.0005858468845474569.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f83db91b187a19dc32c95c08eb0c76393742c2c78b1cc1f369b7d0ccd6e335c8 +size 960706 diff --git a/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/viz_gripper_dir/gripper_idx24_design_0.0048478334210813046_sim_0.0005908362832852595.ply b/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/viz_gripper_dir/gripper_idx24_design_0.0048478334210813046_sim_0.0005908362832852595.ply new file mode 100644 index 0000000000000000000000000000000000000000..a25a125503ee51072b1190ce32a7b286551d5351 --- /dev/null +++ b/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/viz_gripper_dir/gripper_idx24_design_0.0048478334210813046_sim_0.0005908362832852595.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ec2d81e7e8dcc48c8c33f1934d00c140a82bf0e1d6bf300a9fec13b3aab557c3 +size 960706 diff --git a/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/viz_gripper_dir/gripper_idx36_design_0.004797336645424366_sim_0.0005906087153089013.ply b/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/viz_gripper_dir/gripper_idx36_design_0.004797336645424366_sim_0.0005906087153089013.ply new file mode 100644 index 0000000000000000000000000000000000000000..833ce065fbb4f1ac69bc1a9607043163c7483012 --- /dev/null +++ b/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/viz_gripper_dir/gripper_idx36_design_0.004797336645424366_sim_0.0005906087153089013.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3d8d4c8dde4876afdd26c73bb4427361ab484446a8170df8b611b84c3276c1f7 +size 960706 diff --git a/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/viz_gripper_dir/gripper_idx48_design_0.004716844297945499_sim_0.0005907211988220023.ply b/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/viz_gripper_dir/gripper_idx48_design_0.004716844297945499_sim_0.0005907211988220023.ply new file mode 100644 index 0000000000000000000000000000000000000000..dff8337b75be68c2c47c43e2964e4a067629d5f8 --- /dev/null +++ b/20260115_030837_lesseverything_prompt_hand_geo2e-2_topo2e-2_accum3_seed4567/viz_gripper_dir/gripper_idx48_design_0.004716844297945499_sim_0.0005907211988220023.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7720e5ea484de08abbe3d67e8a86f42ef12ad41b3f476b764283e169c6a09cfb +size 960706 diff --git a/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/cmd_config.yaml b/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/cmd_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6eff390f466ec8450ac48d82d4bcdbc0a420ac3e --- /dev/null +++ b/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/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: lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3 +fixed_v_file: gripping_5_HTP.json +geometry_lr: 0.02 +grad_clipping: 0.1 +gripper_dim: 12 +gumbel: true +init_emb_path: asset/embeddings/hand_stump_1_hard_075_3_soft_03.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/less_spread_no_prompt.yaml +patience: 10 +seed: 45678 +stop_mode: min +topo_lr: 0.02 +viewpoint: +- -1.0 +- -0.25 +- -0.1 +zero_grad_dims: +- 8 +- 9 +- 10 +- 11 diff --git a/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/config.yaml b/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e00739c509444c6586507437cda2c12a6b0397c9 --- /dev/null +++ b/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/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_1.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','AngleLoss'] + design_loss_coeffs: [1.e-1,1.0,0.05] + + 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,-3.5,-1.5] + + design_device: cpu + obj_initial_pos: [0,0,0] + num_fingers: 2 diff --git a/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/embeddings/gripper_idx0_design_0.021076612174510956_sim_0.0005908179294661242.npz b/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/embeddings/gripper_idx0_design_0.021076612174510956_sim_0.0005908179294661242.npz new file mode 100644 index 0000000000000000000000000000000000000000..921df423378c16a32e02937fd9824831a5f7b217 --- /dev/null +++ b/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/embeddings/gripper_idx0_design_0.021076612174510956_sim_0.0005908179294661242.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:57ccafeb8bc6c02100a40e0a4eaddec02eb92869fa037d691eb6584deab29cba +size 1425 diff --git a/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/embeddings/gripper_idx12_design_0.019977472722530365_sim_0.0005914363306725129.npz b/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/embeddings/gripper_idx12_design_0.019977472722530365_sim_0.0005914363306725129.npz new file mode 100644 index 0000000000000000000000000000000000000000..e8e940936a6ac01161f282c53664ba473f50e9b5 --- /dev/null +++ b/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/embeddings/gripper_idx12_design_0.019977472722530365_sim_0.0005914363306725129.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cc5c23c694b1066af1f1fbaf6e6432238585ab78ed2e3a733cf1013be3fffe1e +size 2842 diff --git a/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/embeddings/gripper_idx24_design_0.019233722239732742_sim_0.0005906160706913609.npz b/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/embeddings/gripper_idx24_design_0.019233722239732742_sim_0.0005906160706913609.npz new file mode 100644 index 0000000000000000000000000000000000000000..f1150aee1ab56875eb1004a340c7362de394246c --- /dev/null +++ b/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/embeddings/gripper_idx24_design_0.019233722239732742_sim_0.0005906160706913609.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:34b39fb9a41f982919e031e11a79ca7e9671614da276b3077eb146ea7864d612 +size 2870 diff --git a/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/embeddings/gripper_idx36_design_0.018711170181632042_sim_0.0005906218121061996.npz b/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/embeddings/gripper_idx36_design_0.018711170181632042_sim_0.0005906218121061996.npz new file mode 100644 index 0000000000000000000000000000000000000000..a8b3ab56bf6c383c0c5ca5d964420ceb1e4fff58 --- /dev/null +++ b/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/embeddings/gripper_idx36_design_0.018711170181632042_sim_0.0005906218121061996.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d48d7b8ced878ce64f4430e3e51c95b0dd1600420c5024b9e7aa2c16d0f4cd33 +size 2893 diff --git a/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/embeddings/gripper_idx48_design_0.018253745511174202_sim_0.0005910015146458609.npz b/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/embeddings/gripper_idx48_design_0.018253745511174202_sim_0.0005910015146458609.npz new file mode 100644 index 0000000000000000000000000000000000000000..a4cee81e695ac318fdf6b8ec24e7d1ba9766f8b2 --- /dev/null +++ b/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/embeddings/gripper_idx48_design_0.018253745511174202_sim_0.0005910015146458609.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cdf8a93e12f61c7c4e2967552550218f748bf743de4afc3575218b677f81de84 +size 2904 diff --git a/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/softzoo/Ep_Batch_-1_Sampling_0000_Local_0000.mp4 b/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/softzoo/Ep_Batch_-1_Sampling_0000_Local_0000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..2e763104b1d9af7583079aad82ec29161ad58b1a --- /dev/null +++ b/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/softzoo/Ep_Batch_-1_Sampling_0000_Local_0000.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3f644b733b41e3e957a0cb4f98f4bed14ec4a78a7ad5148d1e1dcb4ff5bd1f6e +size 436312 diff --git a/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/softzoo/Ep_Batch_-1_Sampling_0000_Local_0001.mp4 b/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/softzoo/Ep_Batch_-1_Sampling_0000_Local_0001.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..304d9ca0c9bca44cac011e075a1b00707ab69e83 --- /dev/null +++ b/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/softzoo/Ep_Batch_-1_Sampling_0000_Local_0001.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:38a90a36d686a41cd6aa2db720b746f4217389f0008cae6aaacf87241fce587a +size 506187 diff --git a/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/softzoo/Ep_Batch_-1_Sampling_0000_Local_0002.mp4 b/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/softzoo/Ep_Batch_-1_Sampling_0000_Local_0002.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..4ef976f0e6b2bde63655e64e62e9bc7052c7f7bd --- /dev/null +++ b/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/softzoo/Ep_Batch_-1_Sampling_0000_Local_0002.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6083bdd1891dc657f99259bb8a73bb6a89e94e222c57c9a5d5d35a57fb32a158 +size 454885 diff --git a/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/softzoo/Ep_Batch_-1_Sampling_0012_Local_0000.mp4 b/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/softzoo/Ep_Batch_-1_Sampling_0012_Local_0000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a3cf890dc050dffb39e7b076eae212a5405be052 --- /dev/null +++ b/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/softzoo/Ep_Batch_-1_Sampling_0012_Local_0000.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:63b85cc01e413d4a0cd92e8a094aa215fa7d0514fef162fe0eb3f0194bfd70a3 +size 437688 diff --git a/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/softzoo/Ep_Batch_-1_Sampling_0012_Local_0001.mp4 b/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/softzoo/Ep_Batch_-1_Sampling_0012_Local_0001.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..5c3fcfc655380e1722c4bb9bf77e37d0e089e5fa --- /dev/null +++ b/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/softzoo/Ep_Batch_-1_Sampling_0012_Local_0001.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:18179efd1631cea081b304abad6c76a53b9d21ac74818cfb5b4f805c630dc1ce +size 506462 diff --git a/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/softzoo/Ep_Batch_-1_Sampling_0012_Local_0002.mp4 b/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/softzoo/Ep_Batch_-1_Sampling_0012_Local_0002.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..1663165f02c534edb160c0aabbfa86ef159aab26 --- /dev/null +++ b/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/softzoo/Ep_Batch_-1_Sampling_0012_Local_0002.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a0c97bf3f88f243ad17864d4c786e176b5748d196e68bc50d98ac355222d7ea1 +size 453616 diff --git a/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/softzoo/Ep_Batch_-1_Sampling_0024_Local_0000.mp4 b/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/softzoo/Ep_Batch_-1_Sampling_0024_Local_0000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..4388a23db25cca8fc2f25657d5c704b98185cb1b --- /dev/null +++ b/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/softzoo/Ep_Batch_-1_Sampling_0024_Local_0000.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5e5f216d38813124e6b2eceb1dad2751b8752615d6a2d22e8fcd28ce90ace001 +size 437025 diff --git a/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/softzoo/Ep_Batch_-1_Sampling_0024_Local_0001.mp4 b/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/softzoo/Ep_Batch_-1_Sampling_0024_Local_0001.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..805cee3dcfdc1957f78d54465c619bc6663d299a --- /dev/null +++ b/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/softzoo/Ep_Batch_-1_Sampling_0024_Local_0001.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1c741d0e9da4fe59cf56a5e6d856d69d202ff45685b54d3aafedc57d8d11e14f +size 509677 diff --git a/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/softzoo/Ep_Batch_-1_Sampling_0024_Local_0002.mp4 b/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/softzoo/Ep_Batch_-1_Sampling_0024_Local_0002.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..86eb74534a3758fd6c5544b41d73c4c0c47e47fd --- /dev/null +++ b/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/softzoo/Ep_Batch_-1_Sampling_0024_Local_0002.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a9065f9b33b20ca849e02d0304fb453ca9bf3e0aa9db42e7c3bbf1b4f2fcc8e4 +size 455579 diff --git a/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/softzoo/Ep_Batch_-1_Sampling_0036_Local_0000.mp4 b/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/softzoo/Ep_Batch_-1_Sampling_0036_Local_0000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..baf915c20c912bf66d03c36456be6d9b2e33d19f --- /dev/null +++ b/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/softzoo/Ep_Batch_-1_Sampling_0036_Local_0000.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6178c34b5ed80d0b1804b4175578163042999e2a6dafb5d402e80379e4961230 +size 438877 diff --git a/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/softzoo/Ep_Batch_-1_Sampling_0036_Local_0001.mp4 b/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/softzoo/Ep_Batch_-1_Sampling_0036_Local_0001.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..26050af920f2ef5427bade0545edc999becf57cd --- /dev/null +++ b/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/softzoo/Ep_Batch_-1_Sampling_0036_Local_0001.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4f2ad93ee3817d1b8ea6fdc2c6f183ebf3535f9b08e5ec49b42dc9f47d8d001e +size 507282 diff --git a/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/softzoo/Ep_Batch_-1_Sampling_0036_Local_0002.mp4 b/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/softzoo/Ep_Batch_-1_Sampling_0036_Local_0002.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..465b6b940bcc5d4ef6abd8186c1b9e5b6e627954 --- /dev/null +++ b/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/softzoo/Ep_Batch_-1_Sampling_0036_Local_0002.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:39add5c6731f35c07a75aec4b1e8f1bcfafedfa919395a9c8ffee06a72053130 +size 458687 diff --git a/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/softzoo/Ep_Batch_-1_Sampling_0048_Local_0000.mp4 b/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/softzoo/Ep_Batch_-1_Sampling_0048_Local_0000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..4c6dacb4870ec698e949852b01fbdad54ce4cd9f --- /dev/null +++ b/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/softzoo/Ep_Batch_-1_Sampling_0048_Local_0000.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e502879f74c62fda92c282cc67baed8bd39a82c912dfcb42a701388e0d250f56 +size 435593 diff --git a/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/softzoo/Ep_Batch_-1_Sampling_0048_Local_0001.mp4 b/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/softzoo/Ep_Batch_-1_Sampling_0048_Local_0001.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..7f7464b4f31f5deec0b4608f895bcd9ecc88e3f1 --- /dev/null +++ b/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/softzoo/Ep_Batch_-1_Sampling_0048_Local_0001.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3a5dfb7177eb2a5613a4903a8e5762d8bc0210b8f65d440ce8b1da74655a51c3 +size 505396 diff --git a/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/softzoo/Ep_Batch_-1_Sampling_0048_Local_0002.mp4 b/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/softzoo/Ep_Batch_-1_Sampling_0048_Local_0002.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..8f125b0f0c61eac3486e0e1a9970bf17cb14e0c7 --- /dev/null +++ b/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/softzoo/Ep_Batch_-1_Sampling_0048_Local_0002.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e7cf6eca1be0d32319a84753f26e95f4cd016f79764d000ba4d3ac42c1540cea +size 455088 diff --git a/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/softzoo/ckpt/args.json b/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/softzoo/ckpt/args.json new file mode 100644 index 0000000000000000000000000000000000000000..f728a8c1bb42714d0d3a09f3658a112555c471e6 --- /dev/null +++ b/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/softzoo/ckpt/args.json @@ -0,0 +1,240 @@ +{ + "action_space": "actuation", + "action_v_strength": 0.35, + "active": true, + "actuation_activation": "linear", + "actuation_omega": [ + 30.0 + ], + "annotated_pcd_n_voxels": 60, + "annotated_pcd_passive_geometry_mul": 0.5, + "annotated_pcd_passive_softness_mul": 10, + "annotated_pcd_path": null, + "closed_loop_actuation_omega": [ + 30.0 + ], + "closed_loop_n_sin_waves": 4, + "closed_loop_sinwave_activation": "Tanh", + "closed_loop_sinwave_hidden_filters": [ + 32, + 32 + ], + "closed_loop_sinwave_obs_names": [ + "com", + "objective" + ], + "com_x_mul": [ + 1.0, + 2.0, + 1.0 + ], + "controller_lr": 0.003, + "controller_mlp_activation": "Tanh", + "controller_mlp_final_activation": null, + "controller_mlp_hidden_filters": [ + 32, + 32 + ], + "controller_obs_names": [ + "com", + "objective" + ], + "controller_type": "all_on", + "cppn_activation_options": [ + "sin", + "sigmoid" + ], + "cppn_activation_repeat": 10, + "cppn_coord_input_names": [ + "x", + "y", + "z", + "d_xy", + "d_yz", + "d_xz", + "d_xyz" + ], + "cppn_n_hiddens": 3, + "cppn_seed_meshes": [], + "custom_gravity": false, + "desc_prompt": "base.txt", + "design_device": "cpu", + "design_loss_coeffs": [ + 0.1, + 1.0, + 0.05 + ], + "design_loss_types": [ + "FingerPenLoss", + "SelfFingerPenLoss", + "AngleLoss" + ], + "designer_geometry_offset": 0.5, + "designer_lr": 0.1, + "designer_softness_offset": 0.5, + "designer_type": "mlp", + "device_memory_fraction": 0.775, + "dump_rendering_data": false, + "env": "land_environment", + "env_config_file": "gripping_a_5_HTP_a_0.5_-0.5_-0.5_0.5_a_0.5.yaml", + "eval": false, + "final_target_idx": null, + "fixed_v": "gripping_5_HTP.json", + "gen_pointe_bounding_box": { + "max": [ + 1.5, + 0.1, + 1.5 + ], + "min": [ + -1.5, + -3.5, + -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 + ], + "obj_particle_id": 2, + "obj_v_mul": [ + 1.0, + 0.0, + 0.0 + ], + "obj_x_mul": [ + 0.0, + 1.0, + 0.0 + ], + "objective_reward_mode": null, + "objects_set_file": "objects_set_a_1.json", + "optimize_controller": true, + "optimize_design_types": [ + "geometry", + "softness_E", + "softness_v", + "suction_val" + ], + "optimize_designer": true, + "out_dir": "./logs/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/softzoo", + "recenter_mesh_target": false, + "render_every_iter": 8, + "rotation_up_direction": [ + 0.0, + 1.0, + 0.0 + ], + "save_controller": false, + "save_designer": false, + "save_every_iter": 12, + "sdf_basis_actuator_mul": 1.0, + "sdf_basis_coefs_activation": "linear", + "sdf_basis_init_coefs_actuator": null, + "sdf_basis_init_coefs_actuator_direction": null, + "sdf_basis_init_coefs_geometry": null, + "sdf_basis_init_coefs_softness": null, + "sdf_basis_mesh_paths": [], + "sdf_basis_n_voxels": 60, + "sdf_basis_passive_geometry_mul": 0.5, + "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/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/softzoo/ckpt/env_config.yaml b/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/softzoo/ckpt/env_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..21f7a6c25f70b02c4491846a086c6c5aee04cef2 --- /dev/null +++ b/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/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 + - -0.5 + - -0.5 + - 0.5 + initial_velocity: + - 0.0 + - 0.0 + - 0.0 + material: FakeRigid + particle_id: 2 + sample_density: 16 + scale: + - 0.5 + - 0.5 + - 0.5 + semantic_id: 2 + type: Primitive.Mesh + particle_info: + p_rho_0: !!float 7.e+2 # [6e+2, 5e+3] + actuation_strength: 0.3 + design_space: pbr + design_space_config: + base_shape: + initial_position: + - 0.55 + - 0.225 + - 0.4 + initial_velocity: + - 0.0 + - 0.0 + - 0.0 + material: DiffAquaMuscle + particle_id: 3 + particle_info: + E_0: 7.5e+4 + nu_0: 0.3 + p_rho_0: 1000.0 + sample_density: 45 + semantic_id: 3 + size: + - 0.1 + - 0.1 + - 0.1 + type: Primitive.Box + initial_principle_direction: + - 1.0 + - 0.0 + - 0.0 + n_actuators: 101 + p_rho_lower_bound_mul: 0.1 + objective: throw_object + objective_config: + forward_direction: + - 0.0 + - 1.0 + - 0.0 + max_episode_steps: 100 + obj_particles_id: 2 + reward_mode: final + observation_space: + - time + - com + use_renderer: false +RENDERER: + GGUI: + ambient_light: + - 0.5 + - 0.5 + - 0.5 + camera_lookat: + - 0.5 + - 0.1 + - 0.5 + camera_position: + - 0.5 + - 0.25 + - 0.05 + ground_surface_cmap: textures/ground.png + particle_coloring_mode: actuation + particle_radius: 0.002 + res: + - 1920 + - 1080 + type: ggui +SIMULATOR: + base_active_materials: [] + checkpoint_cache_device: torch_cpu + default_dt: 1.e-4 + dim: 3 + gravity: + - 0.0 + - -3.8 + - 0.0 + max_actuation: 101 + max_num_particles: 55000 + max_substeps: 10000 + max_substeps_local: 25 + needs_grad: true + padding: + - 28 + - 3 + - 28 + quality: 0.82 + use_checkpointing: true + use_dynamic_field: false diff --git a/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/softzoo/design/geometry_sampling_0_iter_0_batch_0.ply b/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/softzoo/design/geometry_sampling_0_iter_0_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..4469050ade301948fcffb6edbbd8350e13379d79 Binary files /dev/null and b/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/softzoo/design/geometry_sampling_0_iter_0_batch_0.ply differ diff --git a/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/softzoo/design/geometry_sampling_0_iter_16_batch_0.ply b/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/softzoo/design/geometry_sampling_0_iter_16_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..eab0148f5c988aafbbd7adac37e59dccdcaec539 Binary files /dev/null and b/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/softzoo/design/geometry_sampling_0_iter_16_batch_0.ply differ diff --git a/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/softzoo/design/geometry_sampling_0_iter_24_batch_0.ply b/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/softzoo/design/geometry_sampling_0_iter_24_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..197e0b2b7877d3c61bb6e0f83004b0fab191ad27 Binary files /dev/null and b/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/softzoo/design/geometry_sampling_0_iter_24_batch_0.ply differ diff --git a/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/softzoo/design/geometry_sampling_0_iter_32_batch_0.ply b/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/softzoo/design/geometry_sampling_0_iter_32_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..cfcdd3d27182e26a82968d7613831b9702716018 Binary files /dev/null and b/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/softzoo/design/geometry_sampling_0_iter_32_batch_0.ply differ diff --git a/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/softzoo/design/geometry_sampling_0_iter_40_batch_0.ply b/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/softzoo/design/geometry_sampling_0_iter_40_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..6209cb505a8690d7ff0af722727781254b8d5122 Binary files /dev/null and b/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/softzoo/design/geometry_sampling_0_iter_40_batch_0.ply differ diff --git a/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/softzoo/design/geometry_sampling_0_iter_48_batch_0.ply b/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/softzoo/design/geometry_sampling_0_iter_48_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..2f7b7714bc59daef5c858a0f7620310bfc0c18a0 Binary files /dev/null and b/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/softzoo/design/geometry_sampling_0_iter_48_batch_0.ply differ diff --git a/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/softzoo/design/geometry_sampling_0_iter_8_batch_0.ply b/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/softzoo/design/geometry_sampling_0_iter_8_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..1a1ce0f8101926c5e2a9914e1db5bcc45ea98cf2 Binary files /dev/null and b/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/softzoo/design/geometry_sampling_0_iter_8_batch_0.ply differ diff --git a/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/softzoo/design/gripper_batch_-1.npz b/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/softzoo/design/gripper_batch_-1.npz new file mode 100644 index 0000000000000000000000000000000000000000..a4cee81e695ac318fdf6b8ec24e7d1ba9766f8b2 --- /dev/null +++ b/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/softzoo/design/gripper_batch_-1.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cdf8a93e12f61c7c4e2967552550218f748bf743de4afc3575218b677f81de84 +size 2904 diff --git a/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/softzoo/design/mesh_sampling_0_iter_0_batch_0.ply b/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/softzoo/design/mesh_sampling_0_iter_0_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..f5892cd8cb61ee2947139db261072461517d5150 Binary files /dev/null and b/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/softzoo/design/mesh_sampling_0_iter_0_batch_0.ply differ diff --git a/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/softzoo/design/mesh_sampling_0_iter_16_batch_0.ply b/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/softzoo/design/mesh_sampling_0_iter_16_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..48278dfa279642bc87d1f699bf3758efda21ef07 --- /dev/null +++ b/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/softzoo/design/mesh_sampling_0_iter_16_batch_0.ply @@ -0,0 +1,63 @@ +ply +format binary_little_endian 1.0 +comment Created by Open3D +element vertex 782 +property double x +property double y +property double z +element face 1576 +property list uchar uint vertex_indices +end_header +333r?fff&H?gfff!?333P?fff?gfff!?333P?fff&H?gffd?333P?fff&H?gff&?333r?fff&;?gfff!?333P?fff&;?gffd?333P?fff&;?gff&?333r?fff&.?gffe?333P?fff/?gffe?333P?fff&.?gff&7?333r?fff&.?gfff!?333P?fff&.?gff&?333r?fff&!B?gffe?333P?fff&!B?gff&7?333r?fff&!B?gfff!?333P?fff&!B?gff&?333r?fff&?gffe?333P?fff&?gff&7?333r?fff&?gfff!?333P?fff&?gff&?333r?fff&?gffe?333P?fff&?gff&7?333r?fff&?gfff!?333P?fff&?gff&?333P?fff ?gffe?333P?fff ?gfff!?333r?333?gffe?333P?fffs?gffe?333P?333?gff&7?333P?333?gffd?333P?333S=<.=,.<>.0?31?14@78@89A;<A<=CBCBBDGFEFCECECDHDGE GIG EK J HJ HLKJ I  MIONKN KN OKLM PMNQNPRPQSQTUTRUVVTWVWSWZYXXYUXUTXTTTT[TV[VW\V\[]ZX_]^^]]XX[[^[`^[\a[a`dcbebc_^f_fgh^`f^h`ai`ihkj k !bl"jb" j"dbjm$%bm%lb%mbe$n'mn$po('p(np'opgogf+of*+f*f--fhiqhq-hq/-sr0/s0qs/23rs2rt2svu42v4tv2wuv!5xy!xk!y"l5lx5lzx6{%{l%{zl7{6|9oo9(:}+}o+}|o;}:~>>~=>00r0?3r3r4u?u?uuwuyxxzzz{{{7@7@@9|@|@|}}};A;AA=~A~CBDBGFCFFHDDIIGJHHLJMMINOOLOPPMQNNPRPQQSQURUWSWYYZYZZYUYU\W\]]]ZZZ]___a\adcccceeeg_giiajjkdjjjmeemmnmnpngppqiiqqssststvtwvwyky~wyy~  + +             + +  +    !"!"""#$#$%%#&%&&'('(' ) *!!!+"!*+++"$#$,$#%-#-.-#-%&/(''/0/0)1)2***3+*2333+,4,.5.0607878189229392933;:;44;=<5<5>=<@?@A?A66A78B7B7B9C9BC9CCCD::D=>E=E=EEEF@G@JIHHKJLLFMFNGNOONPPOHIPIPQKHQHQRRQSSRTTSLULTUULUVUWWVMMWXX  Y Y ZXZX[XZ[ [ X\YY ]Y]\]Y]^ZZZ_[Z^___[`\\\a]\`ab]bab]bc^^^d_^cddd_e```fa`efhbgbfgbafbhih i$jc$cckdcjkk&kd(le(eemfelmgfnnfmi) o)i,pj,j$p.-kp-jpkk-&/l(l/0ql0mlqnmrmsrmqsors1os)o14tp4p,t5.t.p6uq6q0qvsquvv81v1s:w;t4;wt;xtwy<5ty5xyty><{z?{?@?|Az|?6AuA}uA|}u}vv}~v~8~B8~BBCBCDC:DwDwDwxxxyyy>E>EFEFG{G@G{IIJJKJMFMNGNONPPOPIPKQKQQRQRSRSTSTUTUVUVWVWMWhhghggihgngoiinrrozz{|||z|}}}~}~~{{{   + +    +        "!""!#$$%$% & "'"#(#%)%,+*&,*&*&'-'0/.(0.(.()1)+2**2323-4-/5..565687171897:;:3;:4<46=6>8898??8>:;;;@:<A<BCBC=CD>>?>EE>D@F@AGABBCBHCIDDEDJJDIKLKFLKNMNGGMHOOPOPQPQRQRSRSITISTITJLUKKUVUVNWNVXVYWYZZY[[Z\\[]]\^^]_ _^`  +`_ a + a` +b  ba c  cb  X Xcddeefddgdgfgdgheehheififjfifkgfjkk kg"l!h!lh!mhlm#mh$ii$%ni%jinjokjnoo& o k'pl'l"lqmlpqq(#q#m)rn)n%r+,or,nroo,&-sp-p's/0qs0psqq0(1tr1r)u2+ru+turu324vs4s-w5/sw/vwsw657t1t79xt9utxx;3x3u<yv<v4vzwvyzz=6z6w?{x?x9{@;{;xA|yAy<y}zy|}}C=}=zE~{E{?~F@~@{G|G|A|}|HCC}J~J~ELFF~MMNGMMMHOHOOPOPQPQRQRSRSTSJTTTLULUVUVWNWXVXWWYYZYZ[Z[\[\]\]^]^_^_`_`a`ababcbcXc   +  +  +             + + +        \ No newline at end of file diff --git a/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/softzoo/design/mesh_sampling_0_iter_24_batch_0.ply b/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/softzoo/design/mesh_sampling_0_iter_24_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..16f32578a4881bede7a3be47a1480b0ad229d3ac Binary files /dev/null and b/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/softzoo/design/mesh_sampling_0_iter_24_batch_0.ply differ diff --git a/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/softzoo/design/mesh_sampling_0_iter_32_batch_0.ply b/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/softzoo/design/mesh_sampling_0_iter_32_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..c619556c91a91d06ab9de1ce00d5077cd6040c33 Binary files /dev/null and b/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/softzoo/design/mesh_sampling_0_iter_32_batch_0.ply differ diff --git a/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/softzoo/design/mesh_sampling_0_iter_40_batch_0.ply b/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/softzoo/design/mesh_sampling_0_iter_40_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..1c8e7d8c72f2c787fef95cc82fb6c9ff3397dc13 Binary files /dev/null and b/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/softzoo/design/mesh_sampling_0_iter_40_batch_0.ply differ diff --git a/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/softzoo/design/mesh_sampling_0_iter_48_batch_0.ply b/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/softzoo/design/mesh_sampling_0_iter_48_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..0eb252ebb874e41ffac60f39f35c5084dc86a66d Binary files /dev/null and b/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/softzoo/design/mesh_sampling_0_iter_48_batch_0.ply differ diff --git a/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/softzoo/design/mesh_sampling_0_iter_8_batch_0.ply b/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/softzoo/design/mesh_sampling_0_iter_8_batch_0.ply new file mode 100644 index 0000000000000000000000000000000000000000..1cfa892752e3be9648a7b090a971d8fbf2cc243d Binary files /dev/null and b/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/softzoo/design/mesh_sampling_0_iter_8_batch_0.ply differ diff --git a/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/training.log b/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/training.log new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/training_log.csv b/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/training_log.csv new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/viz_gripper_dir/gripper_idx0_design_0.021076612174510956_sim_0.0005908179294661242.ply b/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/viz_gripper_dir/gripper_idx0_design_0.021076612174510956_sim_0.0005908179294661242.ply new file mode 100644 index 0000000000000000000000000000000000000000..d65cd247569c8a4df23f9d9b92821f66433fcb9e --- /dev/null +++ b/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/viz_gripper_dir/gripper_idx0_design_0.021076612174510956_sim_0.0005908179294661242.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fcedfbe84efbe7c5095e561bb63f2602441229705301886e446e1f84153d6965 +size 960706 diff --git a/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/viz_gripper_dir/gripper_idx12_design_0.019977472722530365_sim_0.0005914363306725129.ply b/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/viz_gripper_dir/gripper_idx12_design_0.019977472722530365_sim_0.0005914363306725129.ply new file mode 100644 index 0000000000000000000000000000000000000000..bfe3fb63e6970849a7a61699638e93a529788d30 --- /dev/null +++ b/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/viz_gripper_dir/gripper_idx12_design_0.019977472722530365_sim_0.0005914363306725129.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2aa16df2156805d34ef7128ff7cb3b8cb21a7e0cd90f5fb8d5500f98ead1fd8d +size 960706 diff --git a/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/viz_gripper_dir/gripper_idx24_design_0.019233722239732742_sim_0.0005906160706913609.ply b/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/viz_gripper_dir/gripper_idx24_design_0.019233722239732742_sim_0.0005906160706913609.ply new file mode 100644 index 0000000000000000000000000000000000000000..9e538887d493ab43078573f688a1eae56b90e1e7 --- /dev/null +++ b/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/viz_gripper_dir/gripper_idx24_design_0.019233722239732742_sim_0.0005906160706913609.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:90641f61332505bb4aedf229df0cfdb9bcb999d45bbecc430ebdba2d0f06b078 +size 960706 diff --git a/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/viz_gripper_dir/gripper_idx36_design_0.018711170181632042_sim_0.0005906218121061996.ply b/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/viz_gripper_dir/gripper_idx36_design_0.018711170181632042_sim_0.0005906218121061996.ply new file mode 100644 index 0000000000000000000000000000000000000000..d1166dbe6c8632205f1b8191efd5f60ea27e29ff --- /dev/null +++ b/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/viz_gripper_dir/gripper_idx36_design_0.018711170181632042_sim_0.0005906218121061996.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:df7addf01601674590cc3e8ab6f7e16a542bc6c6c25d9c15a51690e2603c79d3 +size 960706 diff --git a/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/viz_gripper_dir/gripper_idx48_design_0.018253745511174202_sim_0.0005910015146458609.ply b/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/viz_gripper_dir/gripper_idx48_design_0.018253745511174202_sim_0.0005910015146458609.ply new file mode 100644 index 0000000000000000000000000000000000000000..421ed79477527ff3e212a213fd1b97625cda1ccd --- /dev/null +++ b/20260115_031445_lesseverything_noprompt_hand_geo2e-2_topo2e-2_accum3_seed45678/viz_gripper_dir/gripper_idx48_design_0.018253745511174202_sim_0.0005910015146458609.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dcae0d65cce6589ba90d4db5f98727a2aaa10010246af5260cc61593cb8e0269 +size 960706 diff --git a/debug_server/config.yaml b/debug_server/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2d08c58e76b4615f58156e710bd8bf592c1a57c6 --- /dev/null +++ b/debug_server/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: [0.5,2.0,2.0] + obj_x_mul: [0.,1.,0.] + com_x_mul: [2.,1.,2.] + obj_particle_id: 2 + + design_loss_types: ['FingerPenLoss','SegmentGrowthLoss','SelfFingerPenLoss','AngleLoss'] + design_loss_coeffs: [0.5,0.001,0.1,0.1] + + 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,-3.5,-1.5] + + design_device: cpu + obj_initial_pos: [0,0,0] + num_fingers: 2 diff --git a/debug_server/softzoo/Ep_Batch_-1_Sampling_-001_Local_0000.mp4 b/debug_server/softzoo/Ep_Batch_-1_Sampling_-001_Local_0000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..632c34755cb401e8e3d6698078d23ceed43a38bf --- /dev/null +++ b/debug_server/softzoo/Ep_Batch_-1_Sampling_-001_Local_0000.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0e9c449c9d9f162a60319b6d1a4296c64c449a9b7a0e24b93b52a593fce5c936 +size 435592 diff --git a/debug_server/softzoo/ckpt/args.json b/debug_server/softzoo/ckpt/args.json new file mode 100644 index 0000000000000000000000000000000000000000..34de481d6d0eec2279bde2616313ad8e486e6e5a --- /dev/null +++ b/debug_server/softzoo/ckpt/args.json @@ -0,0 +1,242 @@ +{ + "action_space": "actuation", + "action_v_strength": 0.35, + "active": true, + "actuation_activation": "linear", + "actuation_omega": [ + 30.0 + ], + "annotated_pcd_n_voxels": 60, + "annotated_pcd_passive_geometry_mul": 0.5, + "annotated_pcd_passive_softness_mul": 10, + "annotated_pcd_path": null, + "closed_loop_actuation_omega": [ + 30.0 + ], + "closed_loop_n_sin_waves": 4, + "closed_loop_sinwave_activation": "Tanh", + "closed_loop_sinwave_hidden_filters": [ + 32, + 32 + ], + "closed_loop_sinwave_obs_names": [ + "com", + "objective" + ], + "com_x_mul": [ + 2.0, + 1.0, + 2.0 + ], + "controller_lr": 0.003, + "controller_mlp_activation": "Tanh", + "controller_mlp_final_activation": null, + "controller_mlp_hidden_filters": [ + 32, + 32 + ], + "controller_obs_names": [ + "com", + "objective" + ], + "controller_type": "all_on", + "cppn_activation_options": [ + "sin", + "sigmoid" + ], + "cppn_activation_repeat": 10, + "cppn_coord_input_names": [ + "x", + "y", + "z", + "d_xy", + "d_yz", + "d_xz", + "d_xyz" + ], + "cppn_n_hiddens": 3, + "cppn_seed_meshes": [], + "custom_gravity": false, + "desc_prompt": "base.txt", + "design_device": "cpu", + "design_loss_coeffs": [ + 0.5, + 0.001, + 0.1, + 0.1 + ], + "design_loss_types": [ + "FingerPenLoss", + "SegmentGrowthLoss", + "SelfFingerPenLoss", + "AngleLoss" + ], + "designer_geometry_offset": 0.5, + "designer_lr": 0.1, + "designer_softness_offset": 0.5, + "designer_type": "mlp", + "device_memory_fraction": 0.775, + "dump_rendering_data": false, + "env": "land_environment", + "env_config_file": "gripping_a_5_HTP_a_0.5_-0.5_-0.5_0.5_a_0.5.yaml", + "eval": false, + "final_target_idx": null, + "fixed_v": "gripping_5_HTP.json", + "gen_pointe_bounding_box": { + "max": [ + 1.5, + 0.1, + 1.5 + ], + "min": [ + -1.5, + -3.5, + -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": [ + 0.5, + 2.0, + 2.0 + ], + "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 + ], + "obj_particle_id": 2, + "obj_v_mul": [ + 1.0, + 0.0, + 0.0 + ], + "obj_x_mul": [ + 0.0, + 1.0, + 0.0 + ], + "objective_reward_mode": null, + "objects_set_file": "objects_set_a.json", + "optimize_controller": true, + "optimize_design_types": [ + "geometry", + "softness_E", + "softness_v", + "suction_val" + ], + "optimize_designer": true, + "out_dir": "./logs/debug_server/softzoo", + "recenter_mesh_target": false, + "render_every_iter": 8, + "rotation_up_direction": [ + 0.0, + 1.0, + 0.0 + ], + "save_controller": false, + "save_designer": false, + "save_every_iter": 12, + "sdf_basis_actuator_mul": 1.0, + "sdf_basis_coefs_activation": "linear", + "sdf_basis_init_coefs_actuator": null, + "sdf_basis_init_coefs_actuator_direction": null, + "sdf_basis_init_coefs_geometry": null, + "sdf_basis_init_coefs_softness": null, + "sdf_basis_mesh_paths": [], + "sdf_basis_n_voxels": 60, + "sdf_basis_passive_geometry_mul": 0.5, + "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/debug_server/softzoo/ckpt/env_config.yaml b/debug_server/softzoo/ckpt/env_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..21f7a6c25f70b02c4491846a086c6c5aee04cef2 --- /dev/null +++ b/debug_server/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 + - -0.5 + - -0.5 + - 0.5 + initial_velocity: + - 0.0 + - 0.0 + - 0.0 + material: FakeRigid + particle_id: 2 + sample_density: 16 + scale: + - 0.5 + - 0.5 + - 0.5 + semantic_id: 2 + type: Primitive.Mesh + particle_info: + p_rho_0: !!float 7.e+2 # [6e+2, 5e+3] + actuation_strength: 0.3 + design_space: pbr + design_space_config: + base_shape: + initial_position: + - 0.55 + - 0.225 + - 0.4 + initial_velocity: + - 0.0 + - 0.0 + - 0.0 + material: DiffAquaMuscle + particle_id: 3 + particle_info: + E_0: 7.5e+4 + nu_0: 0.3 + p_rho_0: 1000.0 + sample_density: 45 + semantic_id: 3 + size: + - 0.1 + - 0.1 + - 0.1 + type: Primitive.Box + initial_principle_direction: + - 1.0 + - 0.0 + - 0.0 + n_actuators: 101 + p_rho_lower_bound_mul: 0.1 + objective: throw_object + objective_config: + forward_direction: + - 0.0 + - 1.0 + - 0.0 + max_episode_steps: 100 + obj_particles_id: 2 + reward_mode: final + observation_space: + - time + - com + use_renderer: false +RENDERER: + GGUI: + ambient_light: + - 0.5 + - 0.5 + - 0.5 + camera_lookat: + - 0.5 + - 0.1 + - 0.5 + camera_position: + - 0.5 + - 0.25 + - 0.05 + ground_surface_cmap: textures/ground.png + particle_coloring_mode: actuation + particle_radius: 0.002 + res: + - 1920 + - 1080 + type: ggui +SIMULATOR: + base_active_materials: [] + checkpoint_cache_device: torch_cpu + default_dt: 1.e-4 + dim: 3 + gravity: + - 0.0 + - -3.8 + - 0.0 + max_actuation: 101 + max_num_particles: 55000 + max_substeps: 10000 + max_substeps_local: 25 + needs_grad: true + padding: + - 28 + - 3 + - 28 + quality: 0.82 + use_checkpointing: true + use_dynamic_field: false diff --git a/debug_server/softzoo/design/gripper_batch_-1.npz b/debug_server/softzoo/design/gripper_batch_-1.npz new file mode 100644 index 0000000000000000000000000000000000000000..64feff54e21e50d17ec3b49adb88f3287ab34c13 --- /dev/null +++ b/debug_server/softzoo/design/gripper_batch_-1.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ea622a45800f21eeaeb10f1f33f4da2d1ebb7a2c7366432a388e48a3f31bfaf2 +size 482 diff --git a/debug_server/training.log b/debug_server/training.log new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/debug_server/training_log.csv b/debug_server/training_log.csv new file mode 100644 index 0000000000000000000000000000000000000000..3fc034cfbada6d70e3a15e930870aaeb1c9e8960 --- /dev/null +++ b/debug_server/training_log.csv @@ -0,0 +1 @@ +phase,sampling_step,local_iter,batch_idx,sap_epoch,sap_loss,sap_inputs_grad_norm,sap_lr,sap_num_points,softzoo_loss,softzoo_grad_norm,softzoo_reward,softzoo_mean_loss,softzoo_scaled_mean_grad_norm,loss,grad_norm,note