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#14
by MNghia - opened
base: refs/heads/main
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from: refs/pr/14
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  1. .gitattributes +0 -0
  2. fixed_branching_optim_geo_1e-3_topo_1e-1_seed42/cmd_config.yaml +15 -0
  3. fixed_branching_optim_geo_1e-3_topo_1e-1_seed42/config.yaml +79 -0
  4. fixed_branching_optim_geo_1e-3_topo_1e-1_seed42/embeddings/gripper_idx0_design_0_sim_0.npz +3 -0
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  14. fixed_branching_optim_geo_1e-3_topo_1e-1_seed42/embeddings/gripper_idx204_design_0.0_sim_0.12578210441307328.npz +3 -0
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  43. fixed_branching_optim_geo_1e-3_topo_1e-1_seed42/embeddings/gripper_idx516_design_0.0_sim_0.13408648798499592.npz +3 -0
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.gitattributes CHANGED
The diff for this file is too large to render. See raw diff
 
fixed_branching_optim_geo_1e-3_topo_1e-1_seed42/cmd_config.yaml ADDED
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+ accum_grad_sim: 6
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+ designer_type: branching
3
+ device: cuda:0
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+ env_config: gripping_a_5_HTP_a_0.5_-0.5_-0.5_0.5_a_0.5.yaml
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+ exp_name: fixed_branching_optim_geo_1e-3_topo_1e-1
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+ fixed_v_file: gripping_5_HTP.json
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+ geometry_lr: 0.001
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+ grad_clipping: null
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+ gumbel: true
10
+ init_emb_path: asset/embeddings/stump_branching_gripper_50.npz
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+ max_epoch: 1000
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+ object_set_file: objects_set_a.json
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+ optim_config_path: config/debug_server.yaml
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+ seed: 42
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+ topo_lr: 0.1
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+ exp_name: debug_server
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+ seed: &seed 22
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+ out_dir: ./logs/
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+ tensorboard_log_dir: runs/
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+ 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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+ preload_emb:
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+ condition_embedding:
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+ shape: [1,3,224,224]
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+ path: asset/img_asset/ver_rec.png
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+ random: False
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+ diffusion_noise:
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+ shape: [2,6,1024]
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+ path: asset/embeddings/base_noise_cone.npy
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+ upsample_noise:
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+ shape: [1,6,3072]
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+ path: asset/embeddings/upsample_noise_cone.npy
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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: gripping_5_HTP.json
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+ objects_set_file: objects_set_a.json
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+ env_config_file: aioz_sim.yaml # Placeholder, need to be inserted manually
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+ save_every_iter: *log_freq
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+ render_every_iter: *log_freq
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+ n_iters: 301
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+ n_frames: 100
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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,DiffOrientationLoss]
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+ loss_coefs: [1.0,1.0,1.0]
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+ obj_x_mul: [0.,1.,0.]
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+ obj_particle_id: 2
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+
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+ seed: *seed # Placeholder, do not use
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+ torch_seed: *seed # Placeholder, do not use
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+ static_as_fixed: True
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+ device_memory_fraction: 0.8
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+
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+ optimize_designer: True
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+ optimize_design_types: ['geometry','softness','suction_val']
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+ designer_lr: 0.1
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+ optimize_controller: True
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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,-3.5,-1.5]
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+
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+ design_device: cpu
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+ obj_initial_pos: [0,0,0]
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+ num_fingers: 2
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+
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+ pointe_config:
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+ base_model_name: base40M
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+ device: cuda:1
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+ guidance_scale: [3.0, 0.0]
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+ num_points: [1024, 3072]
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+ sampling_mode: ddim
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+
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