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  1. .gitattributes +0 -0
  2. 20260327_000818_pbr_baseline_boost_sparse_seed3123/cmd_config.yaml +15 -0
  3. 20260327_000818_pbr_baseline_boost_sparse_seed3123/config.yaml +71 -0
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.gitattributes CHANGED
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20260327_000818_pbr_baseline_boost_sparse_seed3123/cmd_config.yaml ADDED
@@ -0,0 +1,15 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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+ accum_grad_sim: 1
2
+ designer_type: pbr
3
+ env_config: aioz_baseline_pbr.yaml
4
+ exp_name: pbr_baseline_boost_sparse
5
+ fixed_v_file: baseline.json
6
+ grad_clipping: 1.0
7
+ lr: 0.1
8
+ max_epoch: 2400
9
+ min_delta: 0.0
10
+ monitor_metric: eval/sim_loss
11
+ object_set_file: objects_set_a_1.json
12
+ optim_config_path: config/optimization_config/baseline/pbr.yaml
13
+ patience: 100
14
+ seed: 3123
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+ stop_mode: min
20260327_000818_pbr_baseline_boost_sparse_seed3123/config.yaml ADDED
@@ -0,0 +1,71 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ exp_name: particle_based_representation
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+ seed: &seed 22232
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+ out_dir: ./logs/
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+ tensorboard_log_dir: runs/
5
+ save_every_iter: &log_freq 12
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+ total_steps: 512 # Check diffusion_cfg to see how many steps there are in diffusion (normal diffusion + upsampler)
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+ substep_count: 1 # remember to update in diffusion config in pointe, under the k keys
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+
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+ cond_config:
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+ - name: "SoftZoo_Sim"
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+ grad_scale: !!float 1e6
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+ grad_clamp: !!float 1e0
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+ calc_gradient: True
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+ logging_bool: True
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+ # - name: "Dist_To_Origin"
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+ # grad_scale: !!float 1e0
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+ # grad_clamp: !!float 1e-2
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+ # calc_gradient: True
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+ # logging_bool: True
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+ cond_overall_logging: True
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+
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+ softzoo_config:
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+ custom_gravity: False
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+ # eval: True
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+ out_dir: null # Placeholder, need to be set in run.py
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+ fixed_v: default.json
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+ objects_set_file: objects_set_a_1.json
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+ env_config_file: aioz_sim.yaml # Placeholder, need to be inserted manually
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+ layout_config_file: double.json
30
+ robot_rot: [1.,0.,0.,0.] # [w,x,y,z]
31
+ robot_shift: [0.,0.,0.] # [x,y,z]
32
+ desc_prompt: base.txt
33
+ viewpoint: [-1.,-0.25,-0.1]
34
+ save_every_iter: *log_freq
35
+ render_every_iter: 8
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+ n_iters: 301
37
+ n_frames: 100
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+
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+ designer_config: diff_conditioning/simulation_env/designer/encoded_finger/config/double.json
40
+
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+ controller_type: all_on
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+ active: True
43
+ action_v_strength: 0.35
44
+
45
+ loss_types: [ObjectBalancedLoss,ContactLoss,ThrowingObjectLoss]
46
+ loss_coefs: [1.e-4,1.e-5,1.0]
47
+ obj_x_mul: [0.,1.,0.]
48
+ com_x_mul: [1.,2.,1.]
49
+ obj_particle_id: 2
50
+
51
+ design_loss_types: ['FingerPenLoss','SelfFingerPenLoss','CLIPLoss','AngleLoss']
52
+ design_loss_coeffs: [10.0,0.01,1.e-5,0.05]
53
+
54
+
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+ seed: *seed # Placeholder, do not use
56
+ torch_seed: *seed # Placeholder, do not use
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+ static_as_fixed: True
58
+ device_memory_fraction: 0.55
59
+
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+ optimize_designer: True
61
+ optimize_design_types: ['geometry','softness_E','softness_v','suction_val']
62
+ designer_lr: 0.1
63
+ optimize_controller: False
64
+ gen_pointe_bounding_box:
65
+ max: [1.5,0.1,1.5]
66
+ # mean: [0.,0.,0.]
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+ min: [-1.5,-3.0,-1.5]
68
+
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+ design_device: cuda:0
70
+ obj_initial_pos: [0,0,0]
71
+ num_fingers: 2
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