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by MNghia - opened
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  1. .gitattributes +470 -0
  2. fixed_branching_optim_geo_1e-2_topo_2e-1_seed42/cmd_config.yaml +15 -0
  3. fixed_branching_optim_geo_1e-2_topo_2e-1_seed42/config.yaml +79 -0
  4. fixed_branching_optim_geo_1e-2_topo_2e-1_seed42/embeddings/gripper_idx0_design_0_sim_0.npz +3 -0
  5. fixed_branching_optim_geo_1e-2_topo_2e-1_seed42/embeddings/gripper_idx108_design_7.226815796457231e-05_sim_0.3359231662576573.npz +3 -0
  6. fixed_branching_optim_geo_1e-2_topo_2e-1_seed42/embeddings/gripper_idx120_design_6.447077612392604e-05_sim_0.1597995443914712.npz +3 -0
  7. fixed_branching_optim_geo_1e-2_topo_2e-1_seed42/embeddings/gripper_idx12_design_7.263711449922994e-05_sim_0.4018530736325023.npz +3 -0
  8. fixed_branching_optim_geo_1e-2_topo_2e-1_seed42/embeddings/gripper_idx132_design_7.034200825728476e-05_sim_0.29852457176044056.npz +3 -0
  9. fixed_branching_optim_geo_1e-2_topo_2e-1_seed42/embeddings/gripper_idx144_design_7.484122033929452e-05_sim_2.130811118619445.npz +3 -0
  10. fixed_branching_optim_geo_1e-2_topo_2e-1_seed42/embeddings/gripper_idx156_design_7.212354830699041e-05_sim_0.14865612657010716.npz +3 -0
  11. fixed_branching_optim_geo_1e-2_topo_2e-1_seed42/embeddings/gripper_idx168_design_6.896192644489929e-05_sim_0.14251367531140838.npz +3 -0
  12. fixed_branching_optim_geo_1e-2_topo_2e-1_seed42/embeddings/gripper_idx180_design_6.161286000860855e-05_sim_0.13507350642059748.npz +3 -0
  13. fixed_branching_optim_geo_1e-2_topo_2e-1_seed42/embeddings/gripper_idx192_design_7.34588029445149e-05_sim_0.1780431523785449.npz +3 -0
  14. fixed_branching_optim_geo_1e-2_topo_2e-1_seed42/embeddings/gripper_idx204_design_6.787391612306237e-05_sim_1.943802357245863.npz +3 -0
  15. fixed_branching_optim_geo_1e-2_topo_2e-1_seed42/embeddings/gripper_idx216_design_6.411588401533663e-05_sim_0.1162766348452369.npz +3 -0
  16. fixed_branching_optim_geo_1e-2_topo_2e-1_seed42/embeddings/gripper_idx228_design_7.149208977352828e-05_sim_0.11313281574288331.npz +3 -0
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  21. fixed_branching_optim_geo_1e-2_topo_2e-1_seed42/embeddings/gripper_idx276_design_6.0326641687424853e-05_sim_0.1503580743539113.npz +3 -0
  22. fixed_branching_optim_geo_1e-2_topo_2e-1_seed42/embeddings/gripper_idx288_design_7.436617306666449e-05_sim_0.8380173191132092.npz +3 -0
  23. fixed_branching_optim_geo_1e-2_topo_2e-1_seed42/embeddings/gripper_idx300_design_7.506163092330098e-05_sim_0.16353209404872346.npz +3 -0
  24. fixed_branching_optim_geo_1e-2_topo_2e-1_seed42/embeddings/gripper_idx312_design_6.788345490349457e-05_sim_0.17365876891360765.npz +3 -0
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  26. fixed_branching_optim_geo_1e-2_topo_2e-1_seed42/embeddings/gripper_idx336_design_6.376261444529518e-05_sim_0.1618485727571529.npz +3 -0
  27. fixed_branching_optim_geo_1e-2_topo_2e-1_seed42/embeddings/gripper_idx348_design_7.307010673685e-05_sim_0.8755671644663988.npz +3 -0
  28. fixed_branching_optim_geo_1e-2_topo_2e-1_seed42/embeddings/gripper_idx360_design_6.615841266466305e-05_sim_0.2486744533133426.npz +3 -0
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  30. fixed_branching_optim_geo_1e-2_topo_2e-1_seed42/embeddings/gripper_idx372_design_6.062836109776981e-05_sim_0.595114212154847.npz +3 -0
  31. fixed_branching_optim_geo_1e-2_topo_2e-1_seed42/embeddings/gripper_idx384_design_6.91823152010329e-05_sim_4.024346334624987.npz +3 -0
  32. fixed_branching_optim_geo_1e-2_topo_2e-1_seed42/embeddings/gripper_idx396_design_5.722997957491316e-05_sim_0.39486483086264534.npz +3 -0
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  37. fixed_branching_optim_geo_1e-2_topo_2e-1_seed42/embeddings/gripper_idx456_design_6.300115637714043e-05_sim_0.25436374678077145.npz +3 -0
  38. fixed_branching_optim_geo_1e-2_topo_2e-1_seed42/embeddings/gripper_idx468_design_6.228089478099719e-05_sim_3.9031122581178606.npz +3 -0
  39. fixed_branching_optim_geo_1e-2_topo_2e-1_seed42/embeddings/gripper_idx480_design_6.688202120130882e-05_sim_0.31153688376355565.npz +3 -0
  40. fixed_branching_optim_geo_1e-2_topo_2e-1_seed42/embeddings/gripper_idx48_design_7.329453364945948e-05_sim_0.13048405494318102.npz +3 -0
  41. fixed_branching_optim_geo_1e-2_topo_2e-1_seed42/embeddings/gripper_idx492_design_7.503976667067036e-05_sim_0.14546627872640241.npz +3 -0
  42. fixed_branching_optim_geo_1e-2_topo_2e-1_seed42/embeddings/gripper_idx504_design_6.139981996966526e-05_sim_0.18767861885118203.npz +3 -0
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  44. fixed_branching_optim_geo_1e-2_topo_2e-1_seed42/embeddings/gripper_idx528_design_6.914234108990058e-05_sim_1.1266162029688351.npz +3 -0
  45. fixed_branching_optim_geo_1e-2_topo_2e-1_seed42/embeddings/gripper_idx540_design_7.181411638157442e-05_sim_0.20372618201269407.npz +3 -0
  46. fixed_branching_optim_geo_1e-2_topo_2e-1_seed42/embeddings/gripper_idx552_design_7.152837497415021e-05_sim_3.087149915113292.npz +3 -0
  47. fixed_branching_optim_geo_1e-2_topo_2e-1_seed42/embeddings/gripper_idx564_design_6.637629849137738e-05_sim_0.8520077103273762.npz +3 -0
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fixed_branching_optim_geo_1e-2_topo_2e-1_seed42/cmd_config.yaml ADDED
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+ accum_grad_sim: 6
2
+ 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-2_topo_2e-1
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+ fixed_v_file: gripping_5_HTP.json
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+ geometry_lr: 0.01
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+ grad_clipping: null
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+ gumbel: true
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+ 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
14
+ seed: 42
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+ topo_lr: 0.2
fixed_branching_optim_geo_1e-2_topo_2e-1_seed42/config.yaml ADDED
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1
+ exp_name: debug_server
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+ seed: &seed 22
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+ out_dir: ./logs/
4
+ 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)
7
+ substep_count: 1 # remember to update in diffusion config in pointe, under the k keys
8
+
9
+ cond_config:
10
+ - 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
38
+ 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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+
fixed_branching_optim_geo_1e-2_topo_2e-1_seed42/embeddings/gripper_idx0_design_0_sim_0.npz ADDED
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