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#7
by LMN1590 - opened
base: refs/heads/main
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from: refs/pr/7
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  1. .gitattributes +309 -0
  2. cmd_config.yaml +15 -0
  3. config.yaml +71 -0
  4. softzoo/Ep_Batch_-1_Sampling_0000_Local_0000/frame_00080.ply +3 -0
  5. softzoo/Ep_Batch_-1_Sampling_0000_Local_0000/frame_00160.ply +3 -0
  6. softzoo/Ep_Batch_-1_Sampling_0000_Local_0000/frame_00240.ply +3 -0
  7. softzoo/Ep_Batch_-1_Sampling_0000_Local_0000/frame_00320.ply +3 -0
  8. softzoo/Ep_Batch_-1_Sampling_0000_Local_0000/frame_00400.ply +3 -0
  9. softzoo/Ep_Batch_-1_Sampling_0000_Local_0000/frame_00480.ply +3 -0
  10. softzoo/Ep_Batch_-1_Sampling_0000_Local_0000/frame_00560.ply +3 -0
  11. softzoo/Ep_Batch_-1_Sampling_0000_Local_0000/frame_00640.ply +3 -0
  12. softzoo/Ep_Batch_-1_Sampling_0000_Local_0000/frame_00720.ply +3 -0
  13. softzoo/Ep_Batch_-1_Sampling_0000_Local_0000/frame_00800.ply +3 -0
  14. softzoo/Ep_Batch_-1_Sampling_0000_Local_0000/frame_00880.ply +3 -0
  15. softzoo/Ep_Batch_-1_Sampling_0000_Local_0000/frame_00960.ply +3 -0
  16. softzoo/Ep_Batch_-1_Sampling_0000_Local_0000/frame_01040.ply +3 -0
  17. softzoo/Ep_Batch_-1_Sampling_0000_Local_0000/frame_01120.ply +3 -0
  18. softzoo/Ep_Batch_-1_Sampling_0000_Local_0000/frame_01200.ply +3 -0
  19. softzoo/Ep_Batch_-1_Sampling_0000_Local_0000/frame_01280.ply +3 -0
  20. softzoo/Ep_Batch_-1_Sampling_0000_Local_0000/frame_01360.ply +3 -0
  21. softzoo/Ep_Batch_-1_Sampling_0000_Local_0000/frame_01440.ply +3 -0
  22. softzoo/Ep_Batch_-1_Sampling_0000_Local_0000/frame_01520.ply +3 -0
  23. softzoo/Ep_Batch_-1_Sampling_0000_Local_0000/frame_01600.ply +3 -0
  24. softzoo/Ep_Batch_-1_Sampling_0000_Local_0000/frame_01680.ply +3 -0
  25. softzoo/Ep_Batch_-1_Sampling_0000_Local_0000/frame_01760.ply +3 -0
  26. softzoo/Ep_Batch_-1_Sampling_0000_Local_0000/frame_01840.ply +3 -0
  27. softzoo/Ep_Batch_-1_Sampling_0000_Local_0000/frame_01920.ply +3 -0
  28. softzoo/Ep_Batch_-1_Sampling_0000_Local_0000/frame_02000.ply +3 -0
  29. softzoo/Ep_Batch_-1_Sampling_0000_Local_0000/frame_02080.ply +3 -0
  30. softzoo/Ep_Batch_-1_Sampling_0000_Local_0000/frame_02160.ply +3 -0
  31. softzoo/Ep_Batch_-1_Sampling_0000_Local_0000/frame_02240.ply +3 -0
  32. softzoo/Ep_Batch_-1_Sampling_0000_Local_0000/frame_02320.ply +3 -0
  33. softzoo/Ep_Batch_-1_Sampling_0000_Local_0000/frame_02400.ply +3 -0
  34. softzoo/Ep_Batch_-1_Sampling_0000_Local_0000/frame_02480.ply +3 -0
  35. softzoo/Ep_Batch_-1_Sampling_0000_Local_0000/frame_02560.ply +3 -0
  36. softzoo/Ep_Batch_-1_Sampling_0000_Local_0000/frame_02640.ply +3 -0
  37. softzoo/Ep_Batch_-1_Sampling_0000_Local_0000/frame_02720.ply +3 -0
  38. softzoo/Ep_Batch_-1_Sampling_0000_Local_0000/frame_02800.ply +3 -0
  39. softzoo/Ep_Batch_-1_Sampling_0000_Local_0000/frame_02880.ply +3 -0
  40. softzoo/Ep_Batch_-1_Sampling_0000_Local_0000/frame_02960.ply +3 -0
  41. softzoo/Ep_Batch_-1_Sampling_0000_Local_0000/frame_03040.ply +3 -0
  42. softzoo/Ep_Batch_-1_Sampling_0000_Local_0000/frame_03120.ply +3 -0
  43. softzoo/Ep_Batch_-1_Sampling_0000_Local_0000/frame_03200.ply +3 -0
  44. softzoo/Ep_Batch_-1_Sampling_0000_Local_0000/frame_03280.ply +3 -0
  45. softzoo/Ep_Batch_-1_Sampling_0000_Local_0000/frame_03360.ply +3 -0
  46. softzoo/Ep_Batch_-1_Sampling_0000_Local_0000/frame_03440.ply +3 -0
  47. softzoo/Ep_Batch_-1_Sampling_0000_Local_0000/frame_03520.ply +3 -0
  48. softzoo/Ep_Batch_-1_Sampling_0000_Local_0000/frame_03600.ply +3 -0
  49. softzoo/Ep_Batch_-1_Sampling_0000_Local_0000/frame_03680.ply +3 -0
  50. softzoo/Ep_Batch_-1_Sampling_0000_Local_0000/frame_03760.ply +3 -0
.gitattributes CHANGED
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cmd_config.yaml ADDED
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+ accum_grad_sim: 1
2
+ designer_type: pbr
3
+ env_config: aioz_baseline_pbr.yaml
4
+ exp_name: debug
5
+ fixed_v_file: gripping_5_HTP.json
6
+ grad_clipping: 1.0
7
+ lr: 1.0
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: 4234
15
+ stop_mode: min
config.yaml ADDED
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+ exp_name: particle_based_representation
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+ seed: &seed 22232
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+ out_dir: ./logs/
4
+ tensorboard_log_dir: runs/
5
+ save_every_iter: &log_freq 12
6
+ total_steps: 512 # Check diffusion_cfg to see how many steps there are in diffusion (normal diffusion + upsampler)
7
+ substep_count: 1 # remember to update in diffusion config in pointe, under the k keys
8
+
9
+ cond_config:
10
+ - name: "SoftZoo_Sim"
11
+ grad_scale: !!float 1e6
12
+ grad_clamp: !!float 1e0
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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:
23
+ custom_gravity: False
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+ # eval: True
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+ out_dir: null # Placeholder, need to be set in run.py
26
+ fixed_v: default.json
27
+ objects_set_file: objects_set_a_1.json
28
+ env_config_file: aioz_sim.yaml # Placeholder, need to be inserted manually
29
+ 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]
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+ desc_prompt: base.txt
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+ viewpoint: [-1.,-0.25,-0.1]
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+ save_every_iter: *log_freq
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+ render_every_iter: 8
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+ n_iters: 301
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+ n_frames: 100
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+
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+ designer_config: diff_conditioning/simulation_env/designer/encoded_finger/config/double.json
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+
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+ controller_type: all_on
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+ active: True
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+ action_v_strength: 0.35
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+
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+ loss_types: [ObjectBalancedLoss,ContactLoss,ThrowingObjectLoss]
46
+ loss_coefs: [1.e-4,1.e-5,1.0]
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+ obj_x_mul: [0.,1.,0.]
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+ com_x_mul: [1.,2.,1.]
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+ obj_particle_id: 2
50
+
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+ design_loss_types: ['FingerPenLoss','SelfFingerPenLoss','CLIPLoss','AngleLoss']
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+ design_loss_coeffs: [10.0,0.01,1.e-5,0.05]
53
+
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+
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+ seed: *seed # Placeholder, do not use
56
+ torch_seed: *seed # Placeholder, do not use
57
+ static_as_fixed: True
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+ device_memory_fraction: 0.55
59
+
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+ optimize_designer: True
61
+ optimize_design_types: ['geometry','softness_E','softness_v','suction_val']
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+ designer_lr: 0.1
63
+ optimize_controller: False
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+ gen_pointe_bounding_box:
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+ max: [1.5,0.1,1.5]
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+ # mean: [0.,0.,0.]
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+ min: [-1.5,-3.0,-1.5]
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+
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+ design_device: cuda:0
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+ obj_initial_pos: [0,0,0]
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+ num_fingers: 2
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