| { |
| "model_type": "marl-ippo-actor-critic", |
| "name": "MARL IPPO Warehouse Cube Sorting Policy", |
| "description": "Independent PPO policies for 2-4 mobile warehouse robots in NVIDIA Isaac Sim, with optional world-model imagination.", |
| "task": "multi-agent-warehouse-cube-sorting", |
| "simulator": { |
| "name": "NVIDIA Isaac Sim", |
| "versions_tested": ["5.1.0", "6.0.1 pip"], |
| "headless": true, |
| "renderer": "D3D12" |
| }, |
| "num_agents": 2, |
| "observation": { |
| "image": { |
| "shape": [3, 128, 128], |
| "dtype": "uint8", |
| "description": "RGB camera image per agent, stored/transposed to CHW for the policy network." |
| }, |
| "state": { |
| "shape": [12], |
| "dtype": "float32", |
| "description": "[x, y, yaw, vx, vy, omega, nearest_cube_dx, nearest_cube_dy, nearest_cube_dist, target_bin_dx, target_bin_dy, target_bin_dist]" |
| } |
| }, |
| "action_space": { |
| "type": "continuous", |
| "shape": [4], |
| "low": -1.0, |
| "high": 1.0, |
| "description": "[forward, lateral, angular, gripper]", |
| "gripper_threshold": 0.5 |
| }, |
| "policy": { |
| "algorithm": "IPPO", |
| "architecture": { |
| "image_encoder": { |
| "type": "CNN", |
| "input_shape": [3, 128, 128], |
| "conv_layers": [ |
| {"in_channels": 3, "out_channels": 32, "kernel_size": 3, "stride": 2, "padding": 1}, |
| {"in_channels": 32, "out_channels": 64, "kernel_size": 3, "stride": 2, "padding": 1}, |
| {"in_channels": 64, "out_channels": 64, "kernel_size": 3, "stride": 2, "padding": 1} |
| ], |
| "pooling": "AdaptiveAvgPool2d(4, 4)" |
| }, |
| "shared_mlp": { |
| "input_dim": "conv_flat + state_dim", |
| "hidden_dim": 256, |
| "num_layers": 2, |
| "activation": "ReLU" |
| }, |
| "value_head": {"input_dim": 256, "output_dim": 1}, |
| "actor_head": { |
| "type": "gaussian", |
| "input_dim": 256, |
| "output_dim": 4 |
| }, |
| "state_dim": 12, |
| "hidden_dim": 256, |
| "cnn_channels": [32, 64, 64], |
| "reduce_spatial": 4 |
| }, |
| "hyperparameters": { |
| "lr": 3e-4, |
| "gamma": 0.99, |
| "gae_lambda": 0.95, |
| "clip_eps": 0.2, |
| "value_loss_coef": 0.5, |
| "entropy_coef": 0.01, |
| "update_epochs": 4, |
| "batch_size": 64, |
| "max_grad_norm": 0.5, |
| "normalize_advantages": true |
| } |
| }, |
| "world_model": { |
| "backends": ["mock", "cosmos3", "dreamdojo"], |
| "default": "mock", |
| "fallback_to_mock": true, |
| "imagination_horizon_default": 20 |
| }, |
| "so101_bridge": { |
| "input_image_size": [128, 128], |
| "state_dim_policy": 12, |
| "action_mode": "delta", |
| "max_delta": 0.05, |
| "joint_keys": [ |
| "shoulder_pan.pos", |
| "shoulder_lift.pos", |
| "elbow_flex.pos", |
| "wrist_flex.pos", |
| "wrist_roll.pos", |
| "gripper.pos" |
| ] |
| }, |
| "lerobot_dataset_repo": "Ryukijano/marl-world-model-lerobot", |
| "source_repo": "Ryukijano/marl-world-model", |
| "license": "apache-2.0" |
| } |
|
|
