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+softzoo/design/softness_E_sampling_0_iter_0_batch_-1.ply filter=lfs diff=lfs merge=lfs -text +softzoo/design/softness_E_sampling_0_iter_1_batch_-1.ply filter=lfs diff=lfs merge=lfs -text +softzoo/design/softness_E_sampling_0_iter_2_batch_-1.ply filter=lfs diff=lfs merge=lfs -text +softzoo/design/softness_v_sampling_0_iter_0_batch_-1.ply filter=lfs diff=lfs merge=lfs -text +softzoo/design/softness_v_sampling_0_iter_1_batch_-1.ply filter=lfs diff=lfs merge=lfs -text +softzoo/design/softness_v_sampling_0_iter_2_batch_-1.ply filter=lfs diff=lfs merge=lfs -text diff --git a/cmd_config.yaml b/cmd_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0da0a859cb21e45b81340e95d8d7db87eca96e4d --- /dev/null +++ b/cmd_config.yaml @@ -0,0 +1,15 @@ +accum_grad_sim: 1 +designer_type: pbr +env_config: aioz_baseline_pbr.yaml +exp_name: debug +fixed_v_file: gripping_5_HTP.json +grad_clipping: 1.0 +lr: 1.0 +max_epoch: 2400 +min_delta: 0.0 +monitor_metric: eval/sim_loss +object_set_file: objects_set_a_1.json +optim_config_path: config/optimization_config/baseline/pbr.yaml +patience: 100 +seed: 4234 +stop_mode: min diff --git a/config.yaml b/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c5ced7cf708b84175bcaeca283f9cb79bbc078cd --- /dev/null +++ b/config.yaml @@ -0,0 +1,71 @@ +exp_name: particle_based_representation +seed: &seed 22232 +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: default.json + objects_set_file: objects_set_a_1.json + env_config_file: aioz_sim.yaml # Placeholder, need to be inserted manually + layout_config_file: double.json + robot_rot: [1.,0.,0.,0.] # [w,x,y,z] + robot_shift: [0.,0.,0.] # [x,y,z] + 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 + + designer_config: diff_conditioning/simulation_env/designer/encoded_finger/config/double.json + + 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: [10.0,0.01,1.e-5,0.05] + + + seed: *seed # Placeholder, do not use + 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b/softzoo/ckpt/env_config.yaml @@ -0,0 +1,90 @@ +SIMULATOR: + dim: 3 + gravity: [0., -39.8, 0.] + default_dt: 1.e-4 + quality: 1.0 + padding: [28, 3, 28] + needs_grad: True + use_checkpointing: True + max_substeps_local: 20 + max_substeps: 9000 + max_num_particles: 100000 + use_dynamic_field: False + checkpoint_cache_device: torch_cpu + base_active_materials: [] + max_actuation: 41 +ENVIRONMENT: + use_semantic_occupancy: False + objective: throw_object + objective_config: + reward_mode: final + forward_direction: [0., 1., 0.] + max_episode_steps: 100 + obj_particles_id: 2 + ITEMS: + # Terrain + - type: Static.BoundingBox # World boundary + semantic_id: 0 # static obstacle + - type: Static.Terrain + surface: Surface.Slip + semantic_id: 0 # static obstacle + friction: 0.5 + min_height: &ground_height 0.1 + max_height: *ground_height + dampen_coeff: 1.0 # Should be around 0.5-0.6, lower will cause sinking, higher will cause bounce. + - type: Primitive.Box + size: [0.03, 0.08, 0.03] + sample_density: 8 + initial_position: [0.5, 0.2, 0.5] + initial_velocity: [0., 0., 0.] + material: FakeRigid + particle_id: 2 + semantic_id: 2 + particle_info: + p_rho_0: !!float 7.e+2 # [6e+2, 5e+3] + # Environment-specific + use_renderer: False + actuation_strength: 0.3 + observation_space: [time, com] + design_space: pbr + design_space_config: + n_actuators: 41 + initial_principle_direction: [1., 0., 0.] + p_rho_lower_bound_mul: 0.1 + base_shape: + type: Primitive.Box + size: [0.1, 0.1, 0.1] + sample_density: 20 + initial_position: [0.55, 0.23, 0.4] + initial_velocity: [0., 0., 0.] + material: DiffAquaMuscle + particle_id: 3 # used as robot id + particle_info: + p_rho_0: 1.e+3 + E_0: 5.e+4 + nu_0: 0.4 + semantic_id: 3 + CUSTOM: + randomize_terrain: False + has_matter_on_ground: False + matter_id: 4 + matter_materials: [] + matter_thickness: 0.02 + matter_sample_density: 8 + matter_semantic_id: 4 + matter_youngs_modulus: 1.e+5 + matter_padding: [32, 3, 32] +RENDERER: + type: ply + 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sha256:6a89eb0a7af5e3bf694fb0a0507710b3585ce44aa0f4d9658bd9510c01027c5c +size 335251 diff --git a/training.log b/training.log new file mode 100644 index 0000000000000000000000000000000000000000..32a60219a8d379593567e10e77984c2716d4274a --- /dev/null +++ b/training.log @@ -0,0 +1,2 @@ +2026-03-29 18:34:57,330 [INFO] OpenGL_accelerate module loaded +2026-03-29 18:34:57,334 [INFO] Using accelerated ArrayDatatype diff --git a/training_log.csv b/training_log.csv new file mode 100644 index 0000000000000000000000000000000000000000..3fc034cfbada6d70e3a15e930870aaeb1c9e8960 --- /dev/null +++ b/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