diff --git a/logs/robocasa__bread/test_mppi_demos10/seed0/config.yaml b/logs/robocasa__bread/test_mppi_demos10/seed0/config.yaml deleted file mode 100644 index 78d5dad712c6f8d909b7202daad7908e94c2ab21..0000000000000000000000000000000000000000 --- a/logs/robocasa__bread/test_mppi_demos10/seed0/config.yaml +++ /dev/null @@ -1,123 +0,0 @@ -act: SiLU -action_dim: -1 -action_horizon: 1 -action_repeat: 3 -batch_length: 8 -batch_size: 4 -compile: true -cont_head: {layers: 2, loss_scale: 1.0, outscale: 1.0} -critic: {dist: normal_std_fixed, eps: 1e-05, grad_clip: 100.0, layers: 2, lr: 3e-05, - num_models: 5, num_subsample: 2, outscale: 0.0, slow_target: true, slow_target_fraction: 0.02, - slow_target_update: 1} -datadir: datasets/robocasa_datasets -debug: true -decoder: {act: SiLU, cnn_depth: 32, cnn_keys: .*image.*, cnn_sigmoid: false, image_dist: mse, - kernel_size: 4, minres: 4, mlp_keys: .*state.*, mlp_layers: 5, mlp_units: 1024, - norm: true, outscale: 1.0, vector_dist: symlog_mse} -deterministic_run: false -device: cuda:0 -discount: 0.99 -discount_lambda: 0.95 -done_mode: 1 -dp: - ac_chunk: 8 - action_space: deltas - batch_size: 128 - debug: false - device: cuda:0 - devices: 1 - eval_freq: 10 - img_chunk: 2 - log_freq: 100 - lr: 0.0001 - max_iterations: 500000 - num_cams: 2 - pretrained_ckpt: '' - print_config: false - schedule_freq: 1 - seed: 292285 - shared_mlp: [] - train_steps: 10 - train_transform: gpu_medium - use_if_ckpt_present: false -dyn_deter: 512 -dyn_discrete: 32 -dyn_hidden: 512 -dyn_mean_act: none -dyn_min_std: 0.1 -dyn_rec_depth: 1 -dyn_scale: 0.5 -dyn_std_act: sigmoid2 -dyn_stoch: 32 -encoder: {act: SiLU, cnn_depth: 32, cnn_keys: .*image.*, kernel_size: 4, minres: 4, - mlp_keys: .*state.*, mlp_layers: 5, mlp_units: 1024, norm: true, symlog_inputs: true} -encoder_net: {eval_interval: 2, train_steps: 10} -env_max_steps: {bread: 300000.0, breadcanfixed: 500000.0, breadcanrandom: 500000.0, - cereal: 500000.0, door: 100000.0, nutassemblyround: 500000.0, stack: 300000.0} -env_time_limits: {bread: 200, breadcanfixed: 400, breadcanrandom: 400, cereal: 150, - door: 200, nutassemblyround: 300, stack: 150} -eval_episode_num: 0 -eval_num_runs: 3 -generate_highres_eval: false -grad_clip: 1000 -grad_heads: [decoder, cont] -high_res_render: false -highres_img_size: 1024 -imag_horizon: 7 -image_size: 64 -initial: learned -kl_free: 1.0 -log_every: 50 -logdir: scratch_dir//logs/robocasa__bread/test_mppi_demos10/seed0 -model_lr: 0.0001 -mppi: {abs_residual: 0.2, action_l2_cost: 0, discount: 0.99, horizon: 8, init_std: 0.05, - iterations: 2, max_std: 0.1, min_std: 0.01, num_elites: 2, num_samples: 32, pretrained_ckpt: '', - temperature: 0.5, uncertainty_cost: 1.0} -norm: True' -normalize_state_actions: false -num_buffer_transitions: 50 -num_envs: 3 -num_exp_trajs: 10 -num_exp_val_trajs: 1 -obs_horizon: 2 -opt: adam -opt_eps: 1e-08 -precision: 32 -pred_horizon: 8 -prefill: 1 -pretrain: 1 -rep_scale: 0.1 -residual_actor: {absmax: null, dist: normal, entropy: 0.0003, eps: 1e-05, grad_clip: 100.0, - layers: 2, lr: 3e-05, max_std: 0.1, min_std: 0.01, outscale: 1.0, std: learned, - temp: 0.1, unimix_ratio: 0.01} -residual_training: {max_warmup_itrs: 100, n_steps_per_round: 100, n_training_rounds: 3, - num_trajs_per_round: 3, num_warmup_trajs: 3, warmstart_critic_loss: -10000} -retrain_dp_params: {new_trajs_to_collect: 3} -reward_EMA: true -reward_head: {dist: normal_std_fixed, layers: 2, outscale: 0.0} -scratch_dir: scratch_dir/ -seed: 0 -set: -- [image_size, '64'] -state_dim: -1 -state_only: false -steps_per_batch: 10 -task: robocasa__bread -time_limit: 200 -train_dp_mppi: true -train_dp_mppi_params: {data_collect_noise_std: 0.1, discrim_state_only: true, dp_expert_buffer_ratio: 0.5, - eval_every_round: 2, force_warmup: true, min_env_steps_per_round: 20, n_dp_train_itrs: 10, - n_dp_traj_buffer_size: 6, n_env_steps: 230, n_traj_to_relabel_per_round: 3, rounds_train_ratio: 1.5, - upate_discrim_every: 2, update_dp_every: 2, 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num_subsample: 2, outscale: 0.0, slow_target: true, slow_target_fraction: 0.02, - slow_target_update: 1} -datadir: datasets/robocasa_datasets -debug: false -decoder: {act: SiLU, cnn_depth: 32, cnn_keys: .*image.*, cnn_sigmoid: false, image_dist: mse, - kernel_size: 4, minres: 4, mlp_keys: .*state.*, mlp_layers: 5, mlp_units: 1024, - norm: true, outscale: 1.0, vector_dist: symlog_mse} -deterministic_run: false -device: cuda:0 -discount: 0.99 -discount_lambda: 0.95 -done_mode: 1 -dp: - ac_chunk: 8 - action_space: deltas - batch_size: 128 - debug: false - device: cuda:0 - devices: 1 - eval_freq: 10000 - img_chunk: 2 - log_freq: 100 - lr: 0.0001 - max_iterations: 500000 - num_cams: 2 - pretrained_ckpt: '' - print_config: false - schedule_freq: 1 - seed: 292285 - shared_mlp: [] - train_steps: 30000 - train_transform: gpu_medium - use_if_ckpt_present: false -dyn_deter: 512 -dyn_discrete: 32 -dyn_hidden: 512 -dyn_mean_act: none -dyn_min_std: 0.1 -dyn_rec_depth: 1 -dyn_scale: 0.5 -dyn_std_act: sigmoid2 -dyn_stoch: 32 -encoder: {act: SiLU, cnn_depth: 32, cnn_keys: .*image.*, kernel_size: 4, minres: 4, - mlp_keys: .*state.*, mlp_layers: 5, mlp_units: 1024, norm: true, symlog_inputs: true} -env_max_steps: {bread: 300000.0, breadcanfixed: 500000.0, breadcanrandom: 500000.0, - cereal: 500000.0, door: 100000.0, nutassemblyround: 500000.0, stack: 300000.0} -env_time_limits: {bread: 200, breadcanfixed: 400, breadcanrandom: 400, cereal: 150, - door: 200, nutassemblyround: 300, stack: 150} -eval_num_runs: 50 -generate_highres_eval: false -grad_clip: 1000 -grad_heads: [decoder, cont] -high_res_render: false -highres_img_size: 1024 -imag_horizon: 7 -image_size: 64 -initial: learned -kl_free: 1.0 -log_every: 50 -logdir: scratch_dir//logs/robocasa__bread/train_dp-0112_demos15/seed0 -model_lr: 0.0001 -mppi: {abs_residual: 0.2, action_l2_cost: 0, discount: 0.99, horizon: 8, init_std: 0.05, - iterations: 6, max_std: 0.1, min_std: 0.01, num_elites: 32, num_samples: 256, pretrained_ckpt: '', - temperature: 0.5, uncertainty_cost: 1.0} -norm: True' -normalize_state_actions: false -num_buffer_transitions: 100000 -num_envs: 10 -num_exp_trajs: 15 -num_exp_val_trajs: 1 -obs_horizon: 2 -opt: adam -opt_eps: 1e-08 -precision: 32 -pred_horizon: 8 -rep_scale: 0.1 -residual_actor: {absmax: null, dist: normal, entropy: 0.0003, eps: 1e-05, grad_clip: 100.0, - layers: 2, lr: 3e-05, max_std: 0.1, min_std: 0.01, outscale: 1.0, std: learned, - temp: 0.1, unimix_ratio: 0.01} -reward_EMA: true -reward_head: {dist: normal_std_fixed, layers: 2, outscale: 0.0} -scratch_dir: scratch_dir/ -seed: 0 -set: -- [image_size, '64'] -state_dim: -1 -state_only: false -task: robocasa__bread -time_limit: 200 -train_dp_mppi: false -train_dp_mppi_params: {data_collect_noise_std: 0.1, discrim_state_only: true, dp_expert_buffer_ratio: 0.5, - eval_every_round: 10, force_warmup: true, min_env_steps_per_round: 3500, n_dp_train_itrs: 1000, - n_dp_traj_buffer_size: 64, n_env_steps: 300000.0, 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5, num_subsample: 2, outscale: 0.0, slow_target: true, slow_target_fraction: 0.02, - slow_target_update: 1} -datadir: datasets/robocasa_datasets -debug: false -decoder: {act: SiLU, cnn_depth: 32, cnn_keys: .*image.*, cnn_sigmoid: false, image_dist: mse, - kernel_size: 4, minres: 4, mlp_keys: .*state.*, mlp_layers: 5, mlp_units: 1024, - norm: true, outscale: 1.0, vector_dist: symlog_mse} -deterministic_run: false -device: cuda:0 -discount: 0.99 -discount_lambda: 0.95 -done_mode: 1 -dp: - ac_chunk: 8 - action_space: deltas - batch_size: 128 - debug: false - device: cuda:0 - devices: 1 - eval_freq: 10000 - img_chunk: 2 - log_freq: 100 - lr: 0.0001 - max_iterations: 500000 - num_cams: 2 - pretrained_ckpt: '' - print_config: false - schedule_freq: 1 - seed: 292285 - shared_mlp: [] - train_steps: 30000 - train_transform: gpu_medium - use_if_ckpt_present: false -dyn_deter: 512 -dyn_discrete: 32 -dyn_hidden: 512 -dyn_mean_act: none -dyn_min_std: 0.1 -dyn_rec_depth: 1 -dyn_scale: 0.5 -dyn_std_act: sigmoid2 -dyn_stoch: 32 -encoder: {act: SiLU, cnn_depth: 32, cnn_keys: .*image.*, kernel_size: 4, minres: 4, - mlp_keys: .*state.*, mlp_layers: 5, mlp_units: 1024, norm: true, symlog_inputs: true} -env_max_steps: {bread: 300000.0, breadcanfixed: 500000.0, breadcanrandom: 500000.0, - cereal: 500000.0, door: 100000.0, nutassemblyround: 500000.0, stack: 300000.0} -env_time_limits: {bread: 200, breadcanfixed: 400, breadcanrandom: 400, cereal: 150, - door: 200, nutassemblyround: 300, stack: 150} -eval_num_runs: 50 -generate_highres_eval: false -grad_clip: 1000 -grad_heads: [decoder, cont] -high_res_render: false -highres_img_size: 1024 -imag_horizon: 7 -image_size: 64 -initial: learned -kl_free: 1.0 -log_every: 50 -logdir: scratch_dir//logs/robocasa__bread/train_dp-0112_demos15/seed36 -model_lr: 0.0001 -mppi: {abs_residual: 0.2, action_l2_cost: 0, discount: 0.99, horizon: 8, init_std: 0.05, - iterations: 6, max_std: 0.1, min_std: 0.01, num_elites: 32, num_samples: 256, 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5, num_subsample: 2, outscale: 0.0, slow_target: true, slow_target_fraction: 0.02, - slow_target_update: 1} -datadir: datasets/robocasa_datasets -debug: false -decoder: {act: SiLU, cnn_depth: 32, cnn_keys: .*image.*, cnn_sigmoid: false, image_dist: mse, - kernel_size: 4, minres: 4, mlp_keys: .*state.*, mlp_layers: 5, mlp_units: 1024, - norm: true, outscale: 1.0, vector_dist: symlog_mse} -deterministic_run: false -device: cuda:0 -discount: 0.99 -discount_lambda: 0.95 -done_mode: 1 -dp: - ac_chunk: 8 - action_space: deltas - batch_size: 128 - debug: false - device: cuda:0 - devices: 1 - eval_freq: 10000 - img_chunk: 2 - log_freq: 100 - lr: 0.0001 - max_iterations: 500000 - num_cams: 2 - pretrained_ckpt: '' - print_config: false - schedule_freq: 1 - seed: 292285 - shared_mlp: [] - train_steps: 30000 - train_transform: gpu_medium - use_if_ckpt_present: false -dyn_deter: 512 -dyn_discrete: 32 -dyn_hidden: 512 -dyn_mean_act: none -dyn_min_std: 0.1 -dyn_rec_depth: 1 -dyn_scale: 0.5 -dyn_std_act: sigmoid2 -dyn_stoch: 32 -encoder: {act: SiLU, cnn_depth: 32, cnn_keys: .*image.*, kernel_size: 4, minres: 4, - mlp_keys: .*state.*, mlp_layers: 5, mlp_units: 1024, norm: true, symlog_inputs: true} -env_max_steps: {bread: 300000.0, breadcanfixed: 500000.0, breadcanrandom: 500000.0, - cereal: 500000.0, door: 100000.0, nutassemblyround: 500000.0, stack: 300000.0} -env_time_limits: {bread: 200, breadcanfixed: 400, breadcanrandom: 400, cereal: 150, - door: 200, nutassemblyround: 300, stack: 150} -eval_num_runs: 50 -generate_highres_eval: false -grad_clip: 1000 -grad_heads: [decoder, cont] -high_res_render: false -highres_img_size: 1024 -imag_horizon: 7 -image_size: 64 -initial: learned -kl_free: 1.0 -log_every: 50 -logdir: scratch_dir//logs/robocasa__bread/train_dp-0112_demos15/seed72 -model_lr: 0.0001 -mppi: {abs_residual: 0.2, action_l2_cost: 0, discount: 0.99, horizon: 8, init_std: 0.05, - iterations: 6, max_std: 0.1, min_std: 0.01, num_elites: 32, num_samples: 256, pretrained_ckpt: '', - temperature: 0.5, uncertainty_cost: 1.0} -norm: True' -normalize_state_actions: false -num_buffer_transitions: 100000 -num_envs: 10 -num_exp_trajs: 15 -num_exp_val_trajs: 1 -obs_horizon: 2 -opt: adam -opt_eps: 1e-08 -precision: 32 -pred_horizon: 8 -rep_scale: 0.1 -residual_actor: {absmax: null, dist: normal, entropy: 0.0003, eps: 1e-05, grad_clip: 100.0, - layers: 2, lr: 3e-05, max_std: 0.1, min_std: 0.01, outscale: 1.0, std: learned, - temp: 0.1, unimix_ratio: 0.01} -reward_EMA: true -reward_head: {dist: normal_std_fixed, layers: 2, outscale: 0.0} -scratch_dir: scratch_dir/ -seed: 72 -set: -- [image_size, '64'] -state_dim: -1 -state_only: false -task: robocasa__bread -time_limit: 200 -train_dp_mppi: false -train_dp_mppi_params: {data_collect_noise_std: 0.1, discrim_state_only: true, dp_expert_buffer_ratio: 0.5, - eval_every_round: 10, force_warmup: true, min_env_steps_per_round: 3500, n_dp_train_itrs: 1000, - n_dp_traj_buffer_size: 64, n_env_steps: 300000.0, n_traj_to_relabel_per_round: 64, - rounds_train_ratio: 1.5, upate_discrim_every: 100, update_dp_every: 10, use_discrim: true, - warmstart_percentage_env_steps: 0.2, warmstart_train_ratio: 1.5} -unimix_ratio: 0.01 -units: 512 -update_dp: false -use_wandb: true -visualize_eval: true -viz_expert_buffer: false -wandb_entity: njuai -wandb_exp_name: robocasa__bread/train_dp-0112_demos15 -wandb_project: Recovery -weight_decay: 0.0 diff --git a/logs/robocasa__breadcanrandom/eval_dp_demos50/seed0/config.yaml b/logs/robocasa__breadcanrandom/eval_dp_demos50/seed0/config.yaml deleted file mode 100644 index d15b3930eac2586c6a1b1ead5d11f4a0cce9bea9..0000000000000000000000000000000000000000 --- a/logs/robocasa__breadcanrandom/eval_dp_demos50/seed0/config.yaml +++ /dev/null @@ -1,120 +0,0 @@ -act: SiLU -action_dim: -1 -action_horizon: 1 -action_repeat: 3 -batch_length: 32 -batch_size: 16 -compile: true -cont_head: {layers: 2, loss_scale: 1.0, outscale: 1.0} -critic: {dist: normal_std_fixed, eps: 1e-05, grad_clip: 100.0, layers: 2, lr: 3e-05, - num_models: 5, num_subsample: 2, outscale: 0.0, slow_target: true, slow_target_fraction: 0.02, - slow_target_update: 1} -datadir: datasets/robocasa_datasets -debug: false -decoder: {act: SiLU, cnn_depth: 32, cnn_keys: .*image.*, cnn_sigmoid: false, image_dist: mse, - kernel_size: 4, minres: 4, mlp_keys: .*state.*, mlp_layers: 5, mlp_units: 1024, - norm: true, outscale: 1.0, vector_dist: symlog_mse} -deterministic_run: false -device: cuda:0 -discount: 0.99 -discount_lambda: 0.95 -done_mode: 1 -dp: - ac_chunk: 8 - action_space: deltas - batch_size: 64 - debug: false - device: cuda:0 - devices: 1 - eval_freq: 12000 - img_chunk: 2 - log_freq: 100 - lr: 1e-05 - max_iterations: 500000 - num_cams: 2 - pref_ckpt: '' - pretrained_ckpt: - /data/haoranhao/Recovery/scratch_dir/logs/robocasa__breadcanrandom/train_dp-0112_demos50/seed0/DP_Pretrain_base_policy_latest.pt - print_config: false - schedule_freq: 1 - seed: 292285 - shared_mlp: [] - train_steps: 24000 - train_transform: gpu_medium - use_if_ckpt_present: false -dyn_deter: 512 -dyn_discrete: 32 -dyn_hidden: 512 -dyn_mean_act: none -dyn_min_std: 0.1 -dyn_rec_depth: 1 -dyn_scale: 0.5 -dyn_std_act: sigmoid2 -dyn_stoch: 32 -encoder: {act: SiLU, cnn_depth: 32, cnn_keys: .*image.*, kernel_size: 4, minres: 4, - mlp_keys: .*state.*, mlp_layers: 5, mlp_units: 1024, norm: true, symlog_inputs: true} -env_max_steps: {bread: 300000.0, breadcanfixed: 500000.0, breadcanrandom: 500000.0, - cereal: 500000.0, door: 100000.0, nutassemblyround: 500000.0, stack: 300000.0} -env_time_limits: {bread: 200, breadcanfixed: 400, breadcanrandom: 400, cereal: 150, - door: 200, nutassemblyround: 300, stack: 150} -eval_num_runs: 100 -generate_highres_eval: false -grad_clip: 1000 -grad_heads: [decoder, cont] -high_res_render: false -highres_img_size: 1024 -imag_horizon: 7 -image_size: 64 -initial: learned -kl_free: 1.0 -log_every: 50 -logdir: scratch_dir//logs/robocasa__breadcanrandom/eval_dp_demos50/seed0 -max_retries: 1 -model_lr: 1e-05 -mppi: {abs_residual: 0.2, action_l2_cost: 0, discount: 0.99, horizon: 8, init_std: 0.05, - iterations: 6, max_std: 0.1, min_std: 0.01, num_elites: 32, num_samples: 256, pretrained_ckpt: '', - temperature: 0.5, uncertainty_cost: 1.0} -norm: True' -normalize_state_actions: false -num_buffer_transitions: 100000 -num_envs: 10 -num_exp_trajs: 50 -num_exp_val_trajs: 1 -obs_horizon: 2 -opt: adam -opt_eps: 1e-08 -precision: 32 -pred_horizon: 8 -rep_scale: 0.1 -residual_actor: {absmax: null, dist: normal, entropy: 0.0003, eps: 1e-05, grad_clip: 100.0, - layers: 2, lr: 3e-05, max_std: 0.1, min_std: 0.01, outscale: 1.0, std: learned, - temp: 0.1, unimix_ratio: 0.01} -reward_EMA: true -reward_head: {dist: normal_std_fixed, layers: 2, outscale: 0.0} -scratch_dir: scratch_dir/ -seed: 0 -set: -- [image_size, '64'] -- [max_retries, '1'] -- [dp.pretrained_ckpt, - 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cnn_sigmoid: false, image_dist: mse, - kernel_size: 4, minres: 4, mlp_keys: .*state.*, mlp_layers: 5, mlp_units: 1024, - norm: true, outscale: 1.0, vector_dist: symlog_mse} -deterministic_run: false -device: cuda:0 -discount: 0.99 -discount_lambda: 0.95 -done_mode: 1 -dp: - ac_chunk: 8 - action_space: deltas - batch_size: 128 - debug: false - device: cuda:0 - devices: 1 - eval_freq: 10000 - img_chunk: 2 - log_freq: 100 - lr: 0.0001 - max_iterations: 500000 - num_cams: 2 - pretrained_ckpt: '' - print_config: false - schedule_freq: 1 - seed: 292285 - shared_mlp: [] - train_steps: 30000 - train_transform: gpu_medium - use_if_ckpt_present: false -dyn_deter: 512 -dyn_discrete: 32 -dyn_hidden: 512 -dyn_mean_act: none -dyn_min_std: 0.1 -dyn_rec_depth: 1 -dyn_scale: 0.5 -dyn_std_act: sigmoid2 -dyn_stoch: 32 -encoder: {act: SiLU, cnn_depth: 32, cnn_keys: .*image.*, kernel_size: 4, minres: 4, - mlp_keys: .*state.*, mlp_layers: 5, mlp_units: 1024, norm: true, symlog_inputs: true} -env_max_steps: {bread: 300000.0, breadcanfixed: 500000.0, breadcanrandom: 500000.0, - cereal: 500000.0, door: 100000.0, nutassemblyround: 500000.0, stack: 300000.0} -env_time_limits: {bread: 200, breadcanfixed: 400, breadcanrandom: 400, cereal: 150, - door: 200, nutassemblyround: 300, stack: 150} -eval_num_runs: 50 -generate_highres_eval: false -grad_clip: 1000 -grad_heads: [decoder, cont] -high_res_render: false -highres_img_size: 1024 -imag_horizon: 7 -image_size: 64 -initial: learned -kl_free: 1.0 -log_every: 50 -logdir: scratch_dir//logs/robocasa__breadcanrandom/train_dp-0112_demos50/seed36 -model_lr: 0.0001 -mppi: {abs_residual: 0.2, action_l2_cost: 0, discount: 0.99, horizon: 8, init_std: 0.05, - iterations: 6, max_std: 0.1, min_std: 0.01, num_elites: 32, num_samples: 256, pretrained_ckpt: '', - temperature: 0.5, uncertainty_cost: 1.0} -norm: True' -normalize_state_actions: false -num_buffer_transitions: 100000 -num_envs: 10 -num_exp_trajs: 50 -num_exp_val_trajs: 1 -obs_horizon: 2 -opt: adam -opt_eps: 1e-08 -precision: 32 -pred_horizon: 8 -rep_scale: 0.1 -residual_actor: {absmax: null, dist: normal, entropy: 0.0003, eps: 1e-05, grad_clip: 100.0, - layers: 2, lr: 3e-05, max_std: 0.1, min_std: 0.01, outscale: 1.0, std: learned, - temp: 0.1, unimix_ratio: 0.01} -reward_EMA: true -reward_head: {dist: normal_std_fixed, layers: 2, outscale: 0.0} -scratch_dir: scratch_dir/ -seed: 36 -set: -- [image_size, '64'] -state_dim: -1 -state_only: false -task: robocasa__breadcanrandom -time_limit: 400 -train_dp_mppi: false -train_dp_mppi_params: {data_collect_noise_std: 0.1, discrim_state_only: true, dp_expert_buffer_ratio: 0.5, - eval_every_round: 10, force_warmup: true, min_env_steps_per_round: 3500, n_dp_train_itrs: 1000, - n_dp_traj_buffer_size: 64, n_env_steps: 500000.0, n_traj_to_relabel_per_round: 64, - rounds_train_ratio: 1.5, upate_discrim_every: 100, update_dp_every: 10, use_discrim: true, - warmstart_percentage_env_steps: 0.2, warmstart_train_ratio: 1.5} -unimix_ratio: 0.01 -units: 512 -update_dp: false -use_wandb: true -visualize_eval: true -viz_expert_buffer: false -wandb_entity: njuai -wandb_exp_name: robocasa__breadcanrandom/train_dp-0112_demos50 -wandb_project: Recovery -weight_decay: 0.0 diff --git a/logs/robocasa__breadcanrandom/train_dp-0112_demos50/seed72/DP_Pretrain_base_policy_latest.pt b/logs/robocasa__breadcanrandom/train_dp-0112_demos50/seed72/DP_Pretrain_base_policy_latest.pt deleted file mode 100644 index 5181eb6748c63a0da59739a6fd3de6291b619e37..0000000000000000000000000000000000000000 --- a/logs/robocasa__breadcanrandom/train_dp-0112_demos50/seed72/DP_Pretrain_base_policy_latest.pt +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:850dc9b8fb4d69c0fc1cb81f6c29b35b5e5bace4a96ed29da9c69c6d97c78114 -size 347078466 diff --git a/logs/robocasa__breadcanrandom/train_dp-0112_demos50/seed72/config.yaml b/logs/robocasa__breadcanrandom/train_dp-0112_demos50/seed72/config.yaml deleted file mode 100644 index 51e12171c90b78710b3a6d62d0be79714c9d413e..0000000000000000000000000000000000000000 --- a/logs/robocasa__breadcanrandom/train_dp-0112_demos50/seed72/config.yaml +++ /dev/null @@ -1,114 +0,0 @@ -act: SiLU -action_dim: -1 -action_horizon: 1 -action_repeat: 3 -batch_length: 32 -batch_size: 16 -compile: true -cont_head: {layers: 2, loss_scale: 1.0, outscale: 1.0} -critic: {dist: normal_std_fixed, eps: 1e-05, grad_clip: 100.0, layers: 2, lr: 3e-05, - num_models: 5, num_subsample: 2, outscale: 0.0, slow_target: true, slow_target_fraction: 0.02, - slow_target_update: 1} -datadir: datasets/robocasa_datasets -debug: false -decoder: {act: SiLU, cnn_depth: 32, cnn_keys: .*image.*, cnn_sigmoid: false, image_dist: mse, - kernel_size: 4, minres: 4, mlp_keys: .*state.*, mlp_layers: 5, mlp_units: 1024, - norm: true, outscale: 1.0, vector_dist: symlog_mse} -deterministic_run: false -device: cuda:0 -discount: 0.99 -discount_lambda: 0.95 -done_mode: 1 -dp: - ac_chunk: 8 - action_space: deltas - batch_size: 128 - debug: false - device: cuda:0 - devices: 1 - eval_freq: 10000 - img_chunk: 2 - log_freq: 100 - lr: 0.0001 - max_iterations: 500000 - num_cams: 2 - pretrained_ckpt: '' - print_config: false - schedule_freq: 1 - seed: 292285 - shared_mlp: [] - train_steps: 30000 - train_transform: gpu_medium - use_if_ckpt_present: false -dyn_deter: 512 -dyn_discrete: 32 -dyn_hidden: 512 -dyn_mean_act: none -dyn_min_std: 0.1 -dyn_rec_depth: 1 -dyn_scale: 0.5 -dyn_std_act: sigmoid2 -dyn_stoch: 32 -encoder: {act: SiLU, cnn_depth: 32, cnn_keys: .*image.*, kernel_size: 4, minres: 4, - mlp_keys: .*state.*, mlp_layers: 5, mlp_units: 1024, norm: true, symlog_inputs: true} -env_max_steps: {bread: 300000.0, breadcanfixed: 500000.0, breadcanrandom: 500000.0, - cereal: 500000.0, door: 100000.0, nutassemblyround: 500000.0, stack: 300000.0} -env_time_limits: {bread: 200, breadcanfixed: 400, breadcanrandom: 400, cereal: 150, - door: 200, nutassemblyround: 300, stack: 150} -eval_num_runs: 50 -generate_highres_eval: false -grad_clip: 1000 -grad_heads: [decoder, cont] -high_res_render: false -highres_img_size: 1024 -imag_horizon: 7 -image_size: 64 -initial: learned -kl_free: 1.0 -log_every: 50 -logdir: scratch_dir//logs/robocasa__breadcanrandom/train_dp-0112_demos50/seed72 -model_lr: 0.0001 -mppi: {abs_residual: 0.2, action_l2_cost: 0, discount: 0.99, horizon: 8, init_std: 0.05, - iterations: 6, max_std: 0.1, min_std: 0.01, num_elites: 32, num_samples: 256, pretrained_ckpt: '', - temperature: 0.5, uncertainty_cost: 1.0} -norm: True' -normalize_state_actions: false -num_buffer_transitions: 100000 -num_envs: 10 -num_exp_trajs: 50 -num_exp_val_trajs: 1 -obs_horizon: 2 -opt: adam -opt_eps: 1e-08 -precision: 32 -pred_horizon: 8 -rep_scale: 0.1 -residual_actor: {absmax: null, dist: normal, entropy: 0.0003, eps: 1e-05, grad_clip: 100.0, - layers: 2, lr: 3e-05, max_std: 0.1, min_std: 0.01, outscale: 1.0, std: learned, - temp: 0.1, unimix_ratio: 0.01} -reward_EMA: true -reward_head: {dist: normal_std_fixed, layers: 2, outscale: 0.0} -scratch_dir: scratch_dir/ -seed: 72 -set: -- [image_size, '64'] -state_dim: -1 -state_only: false -task: robocasa__breadcanrandom -time_limit: 400 -train_dp_mppi: false -train_dp_mppi_params: {data_collect_noise_std: 0.1, discrim_state_only: true, dp_expert_buffer_ratio: 0.5, - eval_every_round: 10, force_warmup: true, min_env_steps_per_round: 3500, n_dp_train_itrs: 1000, - n_dp_traj_buffer_size: 64, n_env_steps: 500000.0, n_traj_to_relabel_per_round: 64, - rounds_train_ratio: 1.5, upate_discrim_every: 100, update_dp_every: 10, use_discrim: true, - warmstart_percentage_env_steps: 0.2, warmstart_train_ratio: 1.5} -unimix_ratio: 0.01 -units: 512 -update_dp: false -use_wandb: true -visualize_eval: true -viz_expert_buffer: false -wandb_entity: njuai -wandb_exp_name: robocasa__breadcanrandom/train_dp-0112_demos50 -wandb_project: Recovery -weight_decay: 0.0 diff --git a/logs/robocasa__cereal/eval_dp_demos50/seed0/config.yaml b/logs/robocasa__cereal/eval_dp_demos50/seed0/config.yaml deleted file mode 100644 index 737030bd2adfd81d03a5e9b4a3f644072d869cf8..0000000000000000000000000000000000000000 --- a/logs/robocasa__cereal/eval_dp_demos50/seed0/config.yaml +++ /dev/null @@ -1,120 +0,0 @@ -act: SiLU -action_dim: -1 -action_horizon: 1 -action_repeat: 3 -batch_length: 32 -batch_size: 16 -compile: true -cont_head: {layers: 2, loss_scale: 1.0, outscale: 1.0} -critic: {dist: normal_std_fixed, eps: 1e-05, grad_clip: 100.0, layers: 2, lr: 3e-05, - num_models: 5, num_subsample: 2, outscale: 0.0, slow_target: true, slow_target_fraction: 0.02, - slow_target_update: 1} -datadir: datasets/robocasa_datasets -debug: false -decoder: {act: SiLU, cnn_depth: 32, cnn_keys: .*image.*, cnn_sigmoid: false, image_dist: mse, - kernel_size: 4, minres: 4, mlp_keys: .*state.*, mlp_layers: 5, mlp_units: 1024, - norm: true, outscale: 1.0, vector_dist: symlog_mse} -deterministic_run: false -device: cuda:0 -discount: 0.99 -discount_lambda: 0.95 -done_mode: 1 -dp: - ac_chunk: 8 - action_space: deltas - batch_size: 64 - debug: false - device: cuda:0 - devices: 1 - eval_freq: 12000 - img_chunk: 2 - log_freq: 100 - lr: 1e-05 - max_iterations: 500000 - num_cams: 2 - pref_ckpt: '' - pretrained_ckpt: - /data/haoranhao/Recovery/scratch_dir/logs/robocasa__cereal/train_dp-0112_demos50/seed0/DP_Pretrain_base_policy_latest.pt - print_config: false - schedule_freq: 1 - seed: 292285 - shared_mlp: [] - train_steps: 24000 - train_transform: gpu_medium - use_if_ckpt_present: false -dyn_deter: 512 -dyn_discrete: 32 -dyn_hidden: 512 -dyn_mean_act: none -dyn_min_std: 0.1 -dyn_rec_depth: 1 -dyn_scale: 0.5 -dyn_std_act: sigmoid2 -dyn_stoch: 32 -encoder: {act: SiLU, cnn_depth: 32, cnn_keys: .*image.*, kernel_size: 4, minres: 4, - mlp_keys: .*state.*, mlp_layers: 5, mlp_units: 1024, norm: true, symlog_inputs: true} -env_max_steps: {bread: 300000.0, breadcanfixed: 500000.0, breadcanrandom: 500000.0, - cereal: 500000.0, door: 100000.0, nutassemblyround: 500000.0, stack: 300000.0} -env_time_limits: {bread: 200, breadcanfixed: 400, breadcanrandom: 400, cereal: 150, - door: 200, nutassemblyround: 300, stack: 150} -eval_num_runs: 100 -generate_highres_eval: false -grad_clip: 1000 -grad_heads: [decoder, cont] -high_res_render: false -highres_img_size: 1024 -imag_horizon: 7 -image_size: 64 -initial: learned -kl_free: 1.0 -log_every: 50 -logdir: scratch_dir//logs/robocasa__cereal/eval_dp_demos50/seed0 -max_retries: 1 -model_lr: 1e-05 -mppi: {abs_residual: 0.2, action_l2_cost: 0, discount: 0.99, horizon: 8, init_std: 0.05, - iterations: 6, max_std: 0.1, min_std: 0.01, num_elites: 32, num_samples: 256, pretrained_ckpt: '', - temperature: 0.5, uncertainty_cost: 1.0} -norm: True' -normalize_state_actions: false -num_buffer_transitions: 100000 -num_envs: 10 -num_exp_trajs: 50 -num_exp_val_trajs: 1 -obs_horizon: 2 -opt: adam -opt_eps: 1e-08 -precision: 32 -pred_horizon: 8 -rep_scale: 0.1 -residual_actor: {absmax: null, dist: normal, entropy: 0.0003, eps: 1e-05, grad_clip: 100.0, - layers: 2, lr: 3e-05, max_std: 0.1, min_std: 0.01, outscale: 1.0, std: learned, - temp: 0.1, unimix_ratio: 0.01} -reward_EMA: true -reward_head: {dist: normal_std_fixed, layers: 2, outscale: 0.0} -scratch_dir: scratch_dir/ -seed: 0 -set: -- [image_size, '64'] -- [max_retries, '1'] -- [dp.pretrained_ckpt, - /data/haoranhao/Recovery/scratch_dir/logs/robocasa__cereal/train_dp-0112_demos50/seed0/DP_Pretrain_base_policy_latest.pt] -state_dim: -1 -state_only: false -task: robocasa__cereal -time_limit: 150 -train_dp_mppi: false -train_dp_mppi_params: {data_collect_noise_std: 0.1, discrim_state_only: true, dp_expert_buffer_ratio: 0.5, - eval_every_round: 10, force_warmup: true, min_env_steps_per_round: 3500, n_dp_train_itrs: 1000, - n_dp_traj_buffer_size: 64, n_env_steps: 500000.0, n_traj_to_relabel_per_round: 64, - rounds_train_ratio: 1.5, upate_discrim_every: 100, update_dp_every: 10, use_discrim: true, - 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slow_target_update: 1} -datadir: datasets/robocasa_datasets -debug: false -decoder: {act: SiLU, cnn_depth: 32, cnn_keys: .*image.*, cnn_sigmoid: false, image_dist: mse, - kernel_size: 4, minres: 4, mlp_keys: .*state.*, mlp_layers: 5, mlp_units: 1024, - norm: true, outscale: 1.0, vector_dist: symlog_mse} -deterministic_run: false -device: cuda:0 -discount: 0.99 -discount_lambda: 0.95 -done_mode: 1 -dp: - ac_chunk: 8 - action_space: deltas - batch_size: 128 - debug: false - device: cuda:0 - devices: 1 - eval_freq: 10000 - img_chunk: 2 - log_freq: 100 - lr: 0.0001 - max_iterations: 500000 - num_cams: 2 - pretrained_ckpt: '' - print_config: false - schedule_freq: 1 - seed: 292285 - shared_mlp: [] - train_steps: 30000 - train_transform: gpu_medium - use_if_ckpt_present: false -dyn_deter: 512 -dyn_discrete: 32 -dyn_hidden: 512 -dyn_mean_act: none -dyn_min_std: 0.1 -dyn_rec_depth: 1 -dyn_scale: 0.5 -dyn_std_act: sigmoid2 -dyn_stoch: 32 -encoder: {act: SiLU, cnn_depth: 32, cnn_keys: .*image.*, kernel_size: 4, minres: 4, - mlp_keys: .*state.*, mlp_layers: 5, mlp_units: 1024, norm: true, symlog_inputs: true} -env_max_steps: {bread: 300000.0, breadcanfixed: 500000.0, breadcanrandom: 500000.0, - cereal: 500000.0, door: 100000.0, nutassemblyround: 500000.0, stack: 300000.0} -env_time_limits: {bread: 200, breadcanfixed: 400, breadcanrandom: 400, cereal: 150, - door: 200, nutassemblyround: 300, stack: 150} -eval_num_runs: 50 -generate_highres_eval: false -grad_clip: 1000 -grad_heads: [decoder, cont] -high_res_render: false -highres_img_size: 1024 -imag_horizon: 7 -image_size: 64 -initial: learned -kl_free: 1.0 -log_every: 50 -logdir: scratch_dir//logs/robocasa__cereal/train_dp-0112_demos50/seed0 -model_lr: 0.0001 -mppi: {abs_residual: 0.2, action_l2_cost: 0, discount: 0.99, horizon: 8, init_std: 0.05, - iterations: 6, max_std: 0.1, min_std: 0.01, num_elites: 32, num_samples: 256, pretrained_ckpt: '', - temperature: 0.5, uncertainty_cost: 1.0} -norm: True' -normalize_state_actions: false -num_buffer_transitions: 100000 -num_envs: 10 -num_exp_trajs: 50 -num_exp_val_trajs: 1 -obs_horizon: 2 -opt: adam -opt_eps: 1e-08 -precision: 32 -pred_horizon: 8 -rep_scale: 0.1 -residual_actor: {absmax: null, dist: normal, entropy: 0.0003, eps: 1e-05, grad_clip: 100.0, - layers: 2, lr: 3e-05, max_std: 0.1, min_std: 0.01, outscale: 1.0, std: learned, - temp: 0.1, unimix_ratio: 0.01} -reward_EMA: true -reward_head: {dist: normal_std_fixed, layers: 2, outscale: 0.0} -scratch_dir: scratch_dir/ -seed: 0 -set: -- [image_size, '64'] -state_dim: -1 -state_only: false -task: robocasa__cereal -time_limit: 150 -train_dp_mppi: false -train_dp_mppi_params: {data_collect_noise_std: 0.1, discrim_state_only: true, dp_expert_buffer_ratio: 0.5, - eval_every_round: 10, force_warmup: true, min_env_steps_per_round: 3500, n_dp_train_itrs: 1000, - n_dp_traj_buffer_size: 64, n_env_steps: 500000.0, n_traj_to_relabel_per_round: 64, - rounds_train_ratio: 1.5, upate_discrim_every: 100, update_dp_every: 10, use_discrim: true, - warmstart_percentage_env_steps: 0.2, warmstart_train_ratio: 1.5} -unimix_ratio: 0.01 -units: 512 -update_dp: false -use_wandb: true -visualize_eval: true -viz_expert_buffer: false -wandb_entity: njuai -wandb_exp_name: robocasa__cereal/train_dp-0112_demos50 -wandb_project: Recovery -weight_decay: 0.0 diff --git a/logs/robocasa__cereal/train_dp-0112_demos50/seed36/DP_Pretrain_base_policy_latest.pt b/logs/robocasa__cereal/train_dp-0112_demos50/seed36/DP_Pretrain_base_policy_latest.pt deleted file mode 100644 index 2fda4e19768ed3eb05939f01ecefa72b66ff4928..0000000000000000000000000000000000000000 --- a/logs/robocasa__cereal/train_dp-0112_demos50/seed36/DP_Pretrain_base_policy_latest.pt +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:d9467f49022cab51b02324af57c38563c6547780d1b270b0c8a248cf82ffbdec -size 347078466 diff --git a/logs/robocasa__cereal/train_dp-0112_demos50/seed36/config.yaml b/logs/robocasa__cereal/train_dp-0112_demos50/seed36/config.yaml deleted file mode 100644 index 22c6c3729936935363235659c65357d36e10a5c2..0000000000000000000000000000000000000000 --- a/logs/robocasa__cereal/train_dp-0112_demos50/seed36/config.yaml +++ /dev/null @@ -1,114 +0,0 @@ -act: SiLU -action_dim: -1 -action_horizon: 1 -action_repeat: 3 -batch_length: 32 -batch_size: 16 -compile: true -cont_head: {layers: 2, loss_scale: 1.0, outscale: 1.0} -critic: {dist: normal_std_fixed, eps: 1e-05, grad_clip: 100.0, layers: 2, lr: 3e-05, - num_models: 5, num_subsample: 2, outscale: 0.0, slow_target: true, slow_target_fraction: 0.02, - slow_target_update: 1} -datadir: datasets/robocasa_datasets -debug: false -decoder: {act: SiLU, cnn_depth: 32, cnn_keys: .*image.*, cnn_sigmoid: false, image_dist: mse, - kernel_size: 4, minres: 4, mlp_keys: .*state.*, mlp_layers: 5, mlp_units: 1024, - norm: true, outscale: 1.0, vector_dist: symlog_mse} -deterministic_run: false -device: cuda:0 -discount: 0.99 -discount_lambda: 0.95 -done_mode: 1 -dp: - ac_chunk: 8 - action_space: deltas - batch_size: 128 - debug: false - device: cuda:0 - devices: 1 - eval_freq: 10000 - img_chunk: 2 - log_freq: 100 - lr: 0.0001 - max_iterations: 500000 - num_cams: 2 - pretrained_ckpt: '' - print_config: false - schedule_freq: 1 - seed: 292285 - shared_mlp: [] - train_steps: 30000 - train_transform: gpu_medium - use_if_ckpt_present: false -dyn_deter: 512 -dyn_discrete: 32 -dyn_hidden: 512 -dyn_mean_act: none -dyn_min_std: 0.1 -dyn_rec_depth: 1 -dyn_scale: 0.5 -dyn_std_act: sigmoid2 -dyn_stoch: 32 -encoder: {act: SiLU, cnn_depth: 32, cnn_keys: .*image.*, kernel_size: 4, minres: 4, - mlp_keys: .*state.*, mlp_layers: 5, mlp_units: 1024, norm: true, symlog_inputs: true} -env_max_steps: {bread: 300000.0, breadcanfixed: 500000.0, breadcanrandom: 500000.0, - cereal: 500000.0, door: 100000.0, nutassemblyround: 500000.0, stack: 300000.0} -env_time_limits: {bread: 200, breadcanfixed: 400, breadcanrandom: 400, cereal: 150, - door: 200, nutassemblyround: 300, stack: 150} -eval_num_runs: 50 -generate_highres_eval: false -grad_clip: 1000 -grad_heads: [decoder, cont] -high_res_render: false -highres_img_size: 1024 -imag_horizon: 7 -image_size: 64 -initial: learned -kl_free: 1.0 -log_every: 50 -logdir: scratch_dir//logs/robocasa__cereal/train_dp-0112_demos50/seed36 -model_lr: 0.0001 -mppi: {abs_residual: 0.2, action_l2_cost: 0, discount: 0.99, horizon: 8, init_std: 0.05, - iterations: 6, max_std: 0.1, min_std: 0.01, num_elites: 32, num_samples: 256, pretrained_ckpt: '', - temperature: 0.5, uncertainty_cost: 1.0} -norm: True' -normalize_state_actions: false -num_buffer_transitions: 100000 -num_envs: 10 -num_exp_trajs: 50 -num_exp_val_trajs: 1 -obs_horizon: 2 -opt: adam -opt_eps: 1e-08 -precision: 32 -pred_horizon: 8 -rep_scale: 0.1 -residual_actor: {absmax: null, dist: normal, entropy: 0.0003, eps: 1e-05, grad_clip: 100.0, - layers: 2, lr: 3e-05, max_std: 0.1, min_std: 0.01, outscale: 1.0, std: learned, - temp: 0.1, unimix_ratio: 0.01} -reward_EMA: true -reward_head: {dist: normal_std_fixed, layers: 2, outscale: 0.0} -scratch_dir: scratch_dir/ -seed: 36 -set: -- [image_size, '64'] -state_dim: -1 -state_only: false -task: robocasa__cereal -time_limit: 150 -train_dp_mppi: false -train_dp_mppi_params: {data_collect_noise_std: 0.1, discrim_state_only: true, dp_expert_buffer_ratio: 0.5, - eval_every_round: 10, force_warmup: true, min_env_steps_per_round: 3500, n_dp_train_itrs: 1000, - n_dp_traj_buffer_size: 64, n_env_steps: 500000.0, n_traj_to_relabel_per_round: 64, - rounds_train_ratio: 1.5, upate_discrim_every: 100, update_dp_every: 10, use_discrim: true, - warmstart_percentage_env_steps: 0.2, warmstart_train_ratio: 1.5} -unimix_ratio: 0.01 -units: 512 -update_dp: false -use_wandb: true -visualize_eval: true -viz_expert_buffer: false -wandb_entity: njuai -wandb_exp_name: robocasa__cereal/train_dp-0112_demos50 -wandb_project: Recovery -weight_decay: 0.0 diff --git a/logs/robocasa__cereal/train_dp-0112_demos50/seed72/DP_Pretrain_base_policy_latest.pt b/logs/robocasa__cereal/train_dp-0112_demos50/seed72/DP_Pretrain_base_policy_latest.pt deleted file mode 100644 index a7d61e821d63291e94b3c0935ec44956f3ce5494..0000000000000000000000000000000000000000 --- a/logs/robocasa__cereal/train_dp-0112_demos50/seed72/DP_Pretrain_base_policy_latest.pt +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:b34c1d6e212990d5d2c4897580c394eb50377e1b65ea3933304b55e0be7ce375 -size 347078466 diff --git a/logs/robocasa__cereal/train_dp-0112_demos50/seed72/config.yaml b/logs/robocasa__cereal/train_dp-0112_demos50/seed72/config.yaml deleted file mode 100644 index 19398b840cdee600707995bc838c3653ee89b115..0000000000000000000000000000000000000000 --- a/logs/robocasa__cereal/train_dp-0112_demos50/seed72/config.yaml +++ /dev/null @@ -1,114 +0,0 @@ -act: SiLU -action_dim: -1 -action_horizon: 1 -action_repeat: 3 -batch_length: 32 -batch_size: 16 -compile: true -cont_head: {layers: 2, loss_scale: 1.0, outscale: 1.0} -critic: {dist: normal_std_fixed, eps: 1e-05, grad_clip: 100.0, layers: 2, lr: 3e-05, - num_models: 5, num_subsample: 2, outscale: 0.0, slow_target: true, slow_target_fraction: 0.02, - slow_target_update: 1} -datadir: datasets/robocasa_datasets -debug: false -decoder: {act: SiLU, cnn_depth: 32, cnn_keys: .*image.*, cnn_sigmoid: false, image_dist: mse, - kernel_size: 4, minres: 4, mlp_keys: .*state.*, mlp_layers: 5, mlp_units: 1024, - norm: true, outscale: 1.0, vector_dist: symlog_mse} -deterministic_run: false -device: cuda:0 -discount: 0.99 -discount_lambda: 0.95 -done_mode: 1 -dp: - ac_chunk: 8 - action_space: deltas - batch_size: 128 - debug: false - device: cuda:0 - devices: 1 - eval_freq: 10000 - img_chunk: 2 - log_freq: 100 - lr: 0.0001 - max_iterations: 500000 - num_cams: 2 - pretrained_ckpt: '' - print_config: false - schedule_freq: 1 - seed: 292285 - shared_mlp: [] - train_steps: 30000 - train_transform: gpu_medium - use_if_ckpt_present: false -dyn_deter: 512 -dyn_discrete: 32 -dyn_hidden: 512 -dyn_mean_act: none -dyn_min_std: 0.1 -dyn_rec_depth: 1 -dyn_scale: 0.5 -dyn_std_act: sigmoid2 -dyn_stoch: 32 -encoder: {act: SiLU, cnn_depth: 32, cnn_keys: .*image.*, kernel_size: 4, minres: 4, - mlp_keys: .*state.*, mlp_layers: 5, mlp_units: 1024, norm: true, symlog_inputs: true} -env_max_steps: {bread: 300000.0, breadcanfixed: 500000.0, breadcanrandom: 500000.0, - cereal: 500000.0, door: 100000.0, nutassemblyround: 500000.0, stack: 300000.0} -env_time_limits: {bread: 200, breadcanfixed: 400, breadcanrandom: 400, cereal: 150, - door: 200, nutassemblyround: 300, stack: 150} -eval_num_runs: 50 -generate_highres_eval: false -grad_clip: 1000 -grad_heads: [decoder, cont] -high_res_render: false -highres_img_size: 1024 -imag_horizon: 7 -image_size: 64 -initial: learned -kl_free: 1.0 -log_every: 50 -logdir: scratch_dir//logs/robocasa__cereal/train_dp-0112_demos50/seed72 -model_lr: 0.0001 -mppi: {abs_residual: 0.2, action_l2_cost: 0, discount: 0.99, horizon: 8, init_std: 0.05, - iterations: 6, max_std: 0.1, min_std: 0.01, num_elites: 32, num_samples: 256, pretrained_ckpt: '', - temperature: 0.5, uncertainty_cost: 1.0} -norm: True' -normalize_state_actions: false -num_buffer_transitions: 100000 -num_envs: 10 -num_exp_trajs: 50 -num_exp_val_trajs: 1 -obs_horizon: 2 -opt: adam -opt_eps: 1e-08 -precision: 32 -pred_horizon: 8 -rep_scale: 0.1 -residual_actor: {absmax: null, dist: normal, entropy: 0.0003, eps: 1e-05, grad_clip: 100.0, - layers: 2, lr: 3e-05, max_std: 0.1, min_std: 0.01, outscale: 1.0, std: learned, - temp: 0.1, unimix_ratio: 0.01} -reward_EMA: true -reward_head: {dist: normal_std_fixed, layers: 2, outscale: 0.0} -scratch_dir: scratch_dir/ -seed: 72 -set: -- [image_size, '64'] -state_dim: -1 -state_only: false -task: robocasa__cereal -time_limit: 150 -train_dp_mppi: false -train_dp_mppi_params: {data_collect_noise_std: 0.1, discrim_state_only: true, dp_expert_buffer_ratio: 0.5, - eval_every_round: 10, force_warmup: true, min_env_steps_per_round: 3500, n_dp_train_itrs: 1000, - n_dp_traj_buffer_size: 64, n_env_steps: 500000.0, n_traj_to_relabel_per_round: 64, - rounds_train_ratio: 1.5, upate_discrim_every: 100, update_dp_every: 10, use_discrim: true, - warmstart_percentage_env_steps: 0.2, warmstart_train_ratio: 1.5} -unimix_ratio: 0.01 -units: 512 -update_dp: false -use_wandb: true -visualize_eval: true -viz_expert_buffer: false -wandb_entity: njuai -wandb_exp_name: robocasa__cereal/train_dp-0112_demos50 -wandb_project: Recovery -weight_decay: 0.0 diff --git a/logs/robocasa__door/train_dp-0112_demos15/seed0/DP_Pretrain_base_policy_latest.pt b/logs/robocasa__door/train_dp-0112_demos15/seed0/DP_Pretrain_base_policy_latest.pt deleted file mode 100644 index 4fa99cb5a3fd7081498123bff9f66300bd6041b9..0000000000000000000000000000000000000000 --- a/logs/robocasa__door/train_dp-0112_demos15/seed0/DP_Pretrain_base_policy_latest.pt +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:ebd91ea464ca5dca5dfd62edf1fa092a544c8ddbba4d712a453195c1370990ae -size 347078466 diff --git a/logs/robocasa__door/train_dp-0112_demos15/seed0/config.yaml b/logs/robocasa__door/train_dp-0112_demos15/seed0/config.yaml deleted file mode 100644 index 68a3ded965dbf2ec94e23c51e32674a02906fdcc..0000000000000000000000000000000000000000 --- a/logs/robocasa__door/train_dp-0112_demos15/seed0/config.yaml +++ /dev/null @@ -1,114 +0,0 @@ -act: SiLU -action_dim: -1 -action_horizon: 1 -action_repeat: 3 -batch_length: 32 -batch_size: 16 -compile: true -cont_head: {layers: 2, loss_scale: 1.0, outscale: 1.0} -critic: {dist: normal_std_fixed, eps: 1e-05, grad_clip: 100.0, layers: 2, lr: 3e-05, - num_models: 5, num_subsample: 2, outscale: 0.0, slow_target: true, slow_target_fraction: 0.02, - slow_target_update: 1} -datadir: datasets/robocasa_datasets -debug: false -decoder: {act: SiLU, cnn_depth: 32, cnn_keys: .*image.*, cnn_sigmoid: false, image_dist: mse, - kernel_size: 4, minres: 4, mlp_keys: .*state.*, mlp_layers: 5, mlp_units: 1024, - norm: true, outscale: 1.0, vector_dist: symlog_mse} -deterministic_run: false -device: cuda:0 -discount: 0.99 -discount_lambda: 0.95 -done_mode: 1 -dp: - ac_chunk: 8 - action_space: deltas - batch_size: 128 - debug: false - device: cuda:0 - devices: 1 - eval_freq: 10000 - img_chunk: 2 - log_freq: 100 - lr: 0.0001 - max_iterations: 500000 - num_cams: 2 - pretrained_ckpt: '' - print_config: false - schedule_freq: 1 - seed: 292285 - shared_mlp: [] - train_steps: 30000 - train_transform: gpu_medium - use_if_ckpt_present: false -dyn_deter: 512 -dyn_discrete: 32 -dyn_hidden: 512 -dyn_mean_act: none -dyn_min_std: 0.1 -dyn_rec_depth: 1 -dyn_scale: 0.5 -dyn_std_act: sigmoid2 -dyn_stoch: 32 -encoder: {act: SiLU, cnn_depth: 32, cnn_keys: .*image.*, kernel_size: 4, minres: 4, - mlp_keys: .*state.*, mlp_layers: 5, mlp_units: 1024, norm: true, symlog_inputs: true} -env_max_steps: {bread: 300000.0, breadcanfixed: 500000.0, breadcanrandom: 500000.0, - cereal: 500000.0, door: 100000.0, nutassemblyround: 500000.0, stack: 300000.0} -env_time_limits: {bread: 200, breadcanfixed: 400, breadcanrandom: 400, cereal: 150, - door: 200, nutassemblyround: 300, stack: 150} -eval_num_runs: 50 -generate_highres_eval: false -grad_clip: 1000 -grad_heads: [decoder, cont] -high_res_render: false -highres_img_size: 1024 -imag_horizon: 7 -image_size: 64 -initial: learned -kl_free: 1.0 -log_every: 50 -logdir: scratch_dir//logs/robocasa__door/train_dp-0112_demos15/seed0 -model_lr: 0.0001 -mppi: {abs_residual: 0.2, action_l2_cost: 0, discount: 0.99, horizon: 8, init_std: 0.05, - iterations: 6, max_std: 0.1, min_std: 0.01, num_elites: 32, num_samples: 256, pretrained_ckpt: '', - temperature: 0.5, uncertainty_cost: 1.0} -norm: True' -normalize_state_actions: false -num_buffer_transitions: 100000 -num_envs: 10 -num_exp_trajs: 15 -num_exp_val_trajs: 1 -obs_horizon: 2 -opt: adam -opt_eps: 1e-08 -precision: 32 -pred_horizon: 8 -rep_scale: 0.1 -residual_actor: {absmax: null, dist: normal, entropy: 0.0003, eps: 1e-05, grad_clip: 100.0, - layers: 2, lr: 3e-05, max_std: 0.1, min_std: 0.01, outscale: 1.0, std: learned, - temp: 0.1, unimix_ratio: 0.01} -reward_EMA: true -reward_head: {dist: normal_std_fixed, layers: 2, outscale: 0.0} -scratch_dir: scratch_dir/ -seed: 0 -set: -- [image_size, '64'] -state_dim: -1 -state_only: false -task: robocasa__door -time_limit: 200 -train_dp_mppi: false -train_dp_mppi_params: {data_collect_noise_std: 0.1, discrim_state_only: true, dp_expert_buffer_ratio: 0.5, - eval_every_round: 10, force_warmup: true, min_env_steps_per_round: 3500, n_dp_train_itrs: 1000, - n_dp_traj_buffer_size: 64, n_env_steps: 100000.0, n_traj_to_relabel_per_round: 64, - rounds_train_ratio: 1.5, upate_discrim_every: 100, update_dp_every: 10, use_discrim: true, - warmstart_percentage_env_steps: 0.2, warmstart_train_ratio: 1.5} -unimix_ratio: 0.01 -units: 512 -update_dp: 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+0,0 @@ -act: SiLU -action_dim: -1 -action_horizon: 1 -action_repeat: 3 -batch_length: 32 -batch_size: 16 -compile: true -cont_head: {layers: 2, loss_scale: 1.0, outscale: 1.0} -critic: {dist: normal_std_fixed, eps: 1e-05, grad_clip: 100.0, layers: 2, lr: 3e-05, - num_models: 5, num_subsample: 2, outscale: 0.0, slow_target: true, slow_target_fraction: 0.02, - slow_target_update: 1} -datadir: datasets/robocasa_datasets -debug: false -decoder: {act: SiLU, cnn_depth: 32, cnn_keys: .*image.*, cnn_sigmoid: false, image_dist: mse, - kernel_size: 4, minres: 4, mlp_keys: .*state.*, mlp_layers: 5, mlp_units: 1024, - norm: true, outscale: 1.0, vector_dist: symlog_mse} -deterministic_run: false -device: cuda:0 -discount: 0.99 -discount_lambda: 0.95 -done_mode: 1 -dp: - ac_chunk: 8 - action_space: deltas - batch_size: 128 - debug: false - device: cuda:0 - devices: 1 - eval_freq: 10000 - img_chunk: 2 - log_freq: 100 - lr: 0.0001 - max_iterations: 500000 - num_cams: 2 - pretrained_ckpt: '' - print_config: false - schedule_freq: 1 - seed: 292285 - shared_mlp: [] - train_steps: 30000 - train_transform: gpu_medium - use_if_ckpt_present: false -dyn_deter: 512 -dyn_discrete: 32 -dyn_hidden: 512 -dyn_mean_act: none -dyn_min_std: 0.1 -dyn_rec_depth: 1 -dyn_scale: 0.5 -dyn_std_act: sigmoid2 -dyn_stoch: 32 -encoder: {act: SiLU, cnn_depth: 32, cnn_keys: .*image.*, kernel_size: 4, minres: 4, - mlp_keys: .*state.*, mlp_layers: 5, mlp_units: 1024, norm: true, symlog_inputs: true} -env_max_steps: {bread: 300000.0, breadcanfixed: 500000.0, breadcanrandom: 500000.0, - cereal: 500000.0, door: 100000.0, nutassemblyround: 500000.0, stack: 300000.0} -env_time_limits: {bread: 200, breadcanfixed: 400, breadcanrandom: 400, cereal: 150, - door: 200, nutassemblyround: 300, stack: 150} -eval_num_runs: 50 -generate_highres_eval: false -grad_clip: 1000 -grad_heads: [decoder, cont] -high_res_render: false -highres_img_size: 1024 -imag_horizon: 7 -image_size: 64 -initial: learned -kl_free: 1.0 -log_every: 50 -logdir: scratch_dir//logs/robocasa__door/train_dp-0112_demos15/seed72 -model_lr: 0.0001 -mppi: {abs_residual: 0.2, action_l2_cost: 0, discount: 0.99, horizon: 8, init_std: 0.05, - iterations: 6, max_std: 0.1, min_std: 0.01, num_elites: 32, num_samples: 256, pretrained_ckpt: '', - temperature: 0.5, uncertainty_cost: 1.0} -norm: True' -normalize_state_actions: false -num_buffer_transitions: 100000 -num_envs: 10 -num_exp_trajs: 15 -num_exp_val_trajs: 1 -obs_horizon: 2 -opt: adam -opt_eps: 1e-08 -precision: 32 -pred_horizon: 8 -rep_scale: 0.1 -residual_actor: {absmax: null, dist: normal, entropy: 0.0003, eps: 1e-05, grad_clip: 100.0, - layers: 2, lr: 3e-05, max_std: 0.1, min_std: 0.01, outscale: 1.0, std: learned, - temp: 0.1, unimix_ratio: 0.01} -reward_EMA: true -reward_head: {dist: normal_std_fixed, layers: 2, outscale: 0.0} -scratch_dir: scratch_dir/ -seed: 72 -set: -- [image_size, '64'] -state_dim: -1 -state_only: false -task: robocasa__door -time_limit: 200 -train_dp_mppi: false -train_dp_mppi_params: {data_collect_noise_std: 0.1, discrim_state_only: true, dp_expert_buffer_ratio: 0.5, - eval_every_round: 10, force_warmup: true, min_env_steps_per_round: 3500, n_dp_train_itrs: 1000, - n_dp_traj_buffer_size: 64, n_env_steps: 100000.0, n_traj_to_relabel_per_round: 64, - rounds_train_ratio: 1.5, upate_discrim_every: 100, update_dp_every: 10, use_discrim: true, - warmstart_percentage_env_steps: 0.2, warmstart_train_ratio: 1.5} -unimix_ratio: 0.01 -units: 512 -update_dp: false -use_wandb: true -visualize_eval: true -viz_expert_buffer: false -wandb_entity: njuai -wandb_exp_name: robocasa__door/train_dp-0112_demos15 -wandb_project: Recovery -weight_decay: 0.0 diff --git a/logs/robocasa__nutassemblyround/eval_dp_demos50/seed0/config.yaml b/logs/robocasa__nutassemblyround/eval_dp_demos50/seed0/config.yaml deleted file mode 100644 index 1a01009ac477b6e90d84f8c84fbf727e9e80f118..0000000000000000000000000000000000000000 --- a/logs/robocasa__nutassemblyround/eval_dp_demos50/seed0/config.yaml +++ /dev/null @@ -1,120 +0,0 @@ -act: SiLU -action_dim: -1 -action_horizon: 1 -action_repeat: 3 -batch_length: 32 -batch_size: 16 -compile: true -cont_head: {layers: 2, loss_scale: 1.0, outscale: 1.0} -critic: {dist: normal_std_fixed, eps: 1e-05, grad_clip: 100.0, layers: 2, lr: 3e-05, - num_models: 5, num_subsample: 2, outscale: 0.0, slow_target: true, slow_target_fraction: 0.02, - slow_target_update: 1} -datadir: datasets/robocasa_datasets -debug: false -decoder: {act: SiLU, cnn_depth: 32, cnn_keys: .*image.*, cnn_sigmoid: false, image_dist: mse, - kernel_size: 4, minres: 4, mlp_keys: .*state.*, mlp_layers: 5, mlp_units: 1024, - norm: true, outscale: 1.0, vector_dist: symlog_mse} -deterministic_run: false -device: cuda:0 -discount: 0.99 -discount_lambda: 0.95 -done_mode: 1 -dp: - ac_chunk: 8 - action_space: deltas - batch_size: 64 - debug: false - device: cuda:0 - devices: 1 - eval_freq: 12000 - img_chunk: 2 - log_freq: 100 - lr: 1e-05 - max_iterations: 500000 - num_cams: 2 - pref_ckpt: '' - pretrained_ckpt: - /data/haoranhao/Recovery/scratch_dir/logs/robocasa__nutassemblyround/train_dp-0112_demos50/seed0/DP_Pretrain_base_policy_latest.pt - print_config: false - schedule_freq: 1 - seed: 292285 - shared_mlp: [] - train_steps: 24000 - train_transform: gpu_medium - use_if_ckpt_present: false -dyn_deter: 512 -dyn_discrete: 32 -dyn_hidden: 512 -dyn_mean_act: none -dyn_min_std: 0.1 -dyn_rec_depth: 1 -dyn_scale: 0.5 -dyn_std_act: sigmoid2 -dyn_stoch: 32 -encoder: {act: SiLU, cnn_depth: 32, cnn_keys: .*image.*, kernel_size: 4, minres: 4, - mlp_keys: .*state.*, mlp_layers: 5, mlp_units: 1024, norm: true, symlog_inputs: true} -env_max_steps: {bread: 300000.0, breadcanfixed: 500000.0, breadcanrandom: 500000.0, - cereal: 500000.0, door: 100000.0, nutassemblyround: 500000.0, stack: 300000.0} -env_time_limits: {bread: 200, breadcanfixed: 400, breadcanrandom: 400, cereal: 150, - door: 200, nutassemblyround: 300, stack: 150} -eval_num_runs: 100 -generate_highres_eval: false -grad_clip: 1000 -grad_heads: [decoder, cont] -high_res_render: false -highres_img_size: 1024 -imag_horizon: 7 -image_size: 64 -initial: learned -kl_free: 1.0 -log_every: 50 -logdir: scratch_dir//logs/robocasa__nutassemblyround/eval_dp_demos50/seed0 -max_retries: 1 -model_lr: 1e-05 -mppi: {abs_residual: 0.2, action_l2_cost: 0, discount: 0.99, horizon: 8, init_std: 0.05, - iterations: 6, max_std: 0.1, min_std: 0.01, num_elites: 32, num_samples: 256, pretrained_ckpt: '', - temperature: 0.5, uncertainty_cost: 1.0} -norm: True' -normalize_state_actions: false -num_buffer_transitions: 100000 -num_envs: 10 -num_exp_trajs: 50 -num_exp_val_trajs: 1 -obs_horizon: 2 -opt: adam -opt_eps: 1e-08 -precision: 32 -pred_horizon: 8 -rep_scale: 0.1 -residual_actor: {absmax: null, dist: normal, entropy: 0.0003, eps: 1e-05, grad_clip: 100.0, - layers: 2, lr: 3e-05, max_std: 0.1, min_std: 0.01, outscale: 1.0, std: learned, - temp: 0.1, unimix_ratio: 0.01} -reward_EMA: true -reward_head: {dist: normal_std_fixed, layers: 2, outscale: 0.0} -scratch_dir: scratch_dir/ -seed: 0 -set: -- [image_size, '64'] -- [max_retries, '1'] -- [dp.pretrained_ckpt, - /data/haoranhao/Recovery/scratch_dir/logs/robocasa__nutassemblyround/train_dp-0112_demos50/seed0/DP_Pretrain_base_policy_latest.pt] -state_dim: -1 -state_only: false -task: robocasa__nutassemblyround -time_limit: 300 -train_dp_mppi: false -train_dp_mppi_params: {data_collect_noise_std: 0.1, discrim_state_only: true, dp_expert_buffer_ratio: 0.5, - eval_every_round: 10, force_warmup: true, min_env_steps_per_round: 3500, n_dp_train_itrs: 1000, - n_dp_traj_buffer_size: 64, n_env_steps: 500000.0, n_traj_to_relabel_per_round: 64, - rounds_train_ratio: 1.5, upate_discrim_every: 100, update_dp_every: 10, use_discrim: true, - warmstart_percentage_env_steps: 0.2, warmstart_train_ratio: 1.5} -unimix_ratio: 0.01 -units: 512 -update_dp: false -use_wandb: true 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slow_target: true, slow_target_fraction: 0.02, - slow_target_update: 1} -datadir: datasets/robocasa_datasets -debug: false -decoder: {act: SiLU, cnn_depth: 32, cnn_keys: .*image.*, cnn_sigmoid: false, image_dist: mse, - kernel_size: 4, minres: 4, mlp_keys: .*state.*, mlp_layers: 5, mlp_units: 1024, - norm: true, outscale: 1.0, vector_dist: symlog_mse} -deterministic_run: false -device: cuda:0 -discount: 0.99 -discount_lambda: 0.95 -done_mode: 1 -dp: - ac_chunk: 8 - action_space: deltas - batch_size: 128 - debug: false - device: cuda:0 - devices: 1 - eval_freq: 10000 - img_chunk: 2 - log_freq: 100 - lr: 0.0001 - max_iterations: 500000 - num_cams: 2 - pretrained_ckpt: '' - print_config: false - schedule_freq: 1 - seed: 292285 - shared_mlp: [] - train_steps: 30000 - train_transform: gpu_medium - use_if_ckpt_present: false -dyn_deter: 512 -dyn_discrete: 32 -dyn_hidden: 512 -dyn_mean_act: none -dyn_min_std: 0.1 -dyn_rec_depth: 1 -dyn_scale: 0.5 -dyn_std_act: sigmoid2 -dyn_stoch: 32 -encoder: {act: SiLU, cnn_depth: 32, cnn_keys: .*image.*, kernel_size: 4, minres: 4, - mlp_keys: .*state.*, mlp_layers: 5, mlp_units: 1024, norm: true, symlog_inputs: true} -env_max_steps: {bread: 300000.0, breadcanfixed: 500000.0, breadcanrandom: 500000.0, - cereal: 500000.0, door: 100000.0, nutassemblyround: 500000.0, stack: 300000.0} -env_time_limits: {bread: 200, breadcanfixed: 400, breadcanrandom: 400, cereal: 150, - door: 200, nutassemblyround: 300, stack: 150} -eval_num_runs: 50 -generate_highres_eval: false -grad_clip: 1000 -grad_heads: [decoder, cont] -high_res_render: false -highres_img_size: 1024 -imag_horizon: 7 -image_size: 64 -initial: learned -kl_free: 1.0 -log_every: 50 -logdir: scratch_dir//logs/robocasa__nutassemblyround/train_dp-0112_demos50/seed0 -model_lr: 0.0001 -mppi: {abs_residual: 0.2, action_l2_cost: 0, discount: 0.99, horizon: 8, init_std: 0.05, - iterations: 6, max_std: 0.1, min_std: 0.01, num_elites: 32, num_samples: 256, pretrained_ckpt: '', - temperature: 0.5, uncertainty_cost: 1.0} -norm: True' -normalize_state_actions: false -num_buffer_transitions: 100000 -num_envs: 10 -num_exp_trajs: 50 -num_exp_val_trajs: 1 -obs_horizon: 2 -opt: adam -opt_eps: 1e-08 -precision: 32 -pred_horizon: 8 -rep_scale: 0.1 -residual_actor: {absmax: null, dist: normal, entropy: 0.0003, eps: 1e-05, grad_clip: 100.0, - layers: 2, lr: 3e-05, max_std: 0.1, min_std: 0.01, outscale: 1.0, std: learned, - temp: 0.1, unimix_ratio: 0.01} -reward_EMA: true -reward_head: {dist: normal_std_fixed, layers: 2, outscale: 0.0} -scratch_dir: scratch_dir/ -seed: 0 -set: -- [image_size, '64'] -state_dim: -1 -state_only: false -task: robocasa__nutassemblyround -time_limit: 300 -train_dp_mppi: false -train_dp_mppi_params: {data_collect_noise_std: 0.1, discrim_state_only: true, dp_expert_buffer_ratio: 0.5, - eval_every_round: 10, force_warmup: true, min_env_steps_per_round: 3500, n_dp_train_itrs: 1000, - n_dp_traj_buffer_size: 64, n_env_steps: 500000.0, n_traj_to_relabel_per_round: 64, - rounds_train_ratio: 1.5, upate_discrim_every: 100, update_dp_every: 10, use_discrim: true, - warmstart_percentage_env_steps: 0.2, warmstart_train_ratio: 1.5} -unimix_ratio: 0.01 -units: 512 -update_dp: false -use_wandb: true -visualize_eval: true -viz_expert_buffer: false -wandb_entity: njuai -wandb_exp_name: robocasa__nutassemblyround/train_dp-0112_demos50 -wandb_project: Recovery -weight_decay: 0.0 diff --git a/logs/robocasa__nutassemblyround/train_dp-0112_demos50/seed36/DP_Pretrain_base_policy_latest.pt b/logs/robocasa__nutassemblyround/train_dp-0112_demos50/seed36/DP_Pretrain_base_policy_latest.pt deleted file mode 100644 index 26da0ab2086c876053251d9908ad363f98ff58b7..0000000000000000000000000000000000000000 --- a/logs/robocasa__nutassemblyround/train_dp-0112_demos50/seed36/DP_Pretrain_base_policy_latest.pt +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:7b08a1fd4bafac03418802370e3fab01e1b2b9573d2b802b056fd2f66423d67c -size 347078466 diff --git a/logs/robocasa__nutassemblyround/train_dp-0112_demos50/seed36/config.yaml b/logs/robocasa__nutassemblyround/train_dp-0112_demos50/seed36/config.yaml deleted file mode 100644 index 40ea88afeb8a6487eda5936082afd01ed0b7c1c7..0000000000000000000000000000000000000000 --- a/logs/robocasa__nutassemblyround/train_dp-0112_demos50/seed36/config.yaml +++ /dev/null @@ -1,114 +0,0 @@ -act: SiLU -action_dim: -1 -action_horizon: 1 -action_repeat: 3 -batch_length: 32 -batch_size: 16 -compile: true -cont_head: {layers: 2, loss_scale: 1.0, outscale: 1.0} -critic: {dist: normal_std_fixed, eps: 1e-05, grad_clip: 100.0, layers: 2, lr: 3e-05, - num_models: 5, num_subsample: 2, outscale: 0.0, slow_target: true, slow_target_fraction: 0.02, - slow_target_update: 1} -datadir: datasets/robocasa_datasets -debug: false -decoder: {act: SiLU, cnn_depth: 32, cnn_keys: .*image.*, cnn_sigmoid: false, image_dist: mse, - kernel_size: 4, minres: 4, mlp_keys: .*state.*, mlp_layers: 5, mlp_units: 1024, - norm: true, outscale: 1.0, vector_dist: symlog_mse} -deterministic_run: false -device: cuda:0 -discount: 0.99 -discount_lambda: 0.95 -done_mode: 1 -dp: - ac_chunk: 8 - action_space: deltas - batch_size: 128 - debug: false - device: cuda:0 - devices: 1 - eval_freq: 10000 - img_chunk: 2 - log_freq: 100 - lr: 0.0001 - max_iterations: 500000 - num_cams: 2 - pretrained_ckpt: '' - print_config: false - schedule_freq: 1 - seed: 292285 - shared_mlp: [] - train_steps: 30000 - train_transform: gpu_medium - use_if_ckpt_present: false -dyn_deter: 512 -dyn_discrete: 32 -dyn_hidden: 512 -dyn_mean_act: none -dyn_min_std: 0.1 -dyn_rec_depth: 1 -dyn_scale: 0.5 -dyn_std_act: sigmoid2 -dyn_stoch: 32 -encoder: {act: SiLU, cnn_depth: 32, cnn_keys: .*image.*, kernel_size: 4, minres: 4, - mlp_keys: .*state.*, mlp_layers: 5, mlp_units: 1024, norm: true, symlog_inputs: true} -env_max_steps: {bread: 300000.0, breadcanfixed: 500000.0, breadcanrandom: 500000.0, - cereal: 500000.0, door: 100000.0, nutassemblyround: 500000.0, stack: 300000.0} -env_time_limits: {bread: 200, breadcanfixed: 400, breadcanrandom: 400, cereal: 150, - door: 200, nutassemblyround: 300, stack: 150} -eval_num_runs: 50 -generate_highres_eval: false -grad_clip: 1000 -grad_heads: [decoder, cont] -high_res_render: false -highres_img_size: 1024 -imag_horizon: 7 -image_size: 64 -initial: learned -kl_free: 1.0 -log_every: 50 -logdir: scratch_dir//logs/robocasa__nutassemblyround/train_dp-0112_demos50/seed36 -model_lr: 0.0001 -mppi: {abs_residual: 0.2, action_l2_cost: 0, discount: 0.99, horizon: 8, init_std: 0.05, - iterations: 6, max_std: 0.1, min_std: 0.01, num_elites: 32, num_samples: 256, pretrained_ckpt: '', - temperature: 0.5, uncertainty_cost: 1.0} -norm: True' -normalize_state_actions: false -num_buffer_transitions: 100000 -num_envs: 10 -num_exp_trajs: 50 -num_exp_val_trajs: 1 -obs_horizon: 2 -opt: adam -opt_eps: 1e-08 -precision: 32 -pred_horizon: 8 -rep_scale: 0.1 -residual_actor: {absmax: null, dist: normal, entropy: 0.0003, eps: 1e-05, grad_clip: 100.0, - layers: 2, lr: 3e-05, max_std: 0.1, min_std: 0.01, outscale: 1.0, std: learned, - temp: 0.1, unimix_ratio: 0.01} -reward_EMA: true -reward_head: {dist: normal_std_fixed, layers: 2, outscale: 0.0} -scratch_dir: scratch_dir/ -seed: 36 -set: -- [image_size, '64'] -state_dim: -1 -state_only: false -task: robocasa__nutassemblyround -time_limit: 300 -train_dp_mppi: false -train_dp_mppi_params: {data_collect_noise_std: 0.1, discrim_state_only: true, dp_expert_buffer_ratio: 0.5, - eval_every_round: 10, force_warmup: true, min_env_steps_per_round: 3500, n_dp_train_itrs: 1000, - n_dp_traj_buffer_size: 64, n_env_steps: 500000.0, n_traj_to_relabel_per_round: 64, - rounds_train_ratio: 1.5, upate_discrim_every: 100, update_dp_every: 10, use_discrim: true, - warmstart_percentage_env_steps: 0.2, warmstart_train_ratio: 1.5} -unimix_ratio: 0.01 -units: 512 -update_dp: false -use_wandb: true -visualize_eval: true -viz_expert_buffer: false -wandb_entity: njuai -wandb_exp_name: robocasa__nutassemblyround/train_dp-0112_demos50 -wandb_project: Recovery -weight_decay: 0.0 diff --git a/logs/robocasa__nutassemblyround/train_dp-0112_demos50/seed72/DP_Pretrain_base_policy_latest.pt b/logs/robocasa__nutassemblyround/train_dp-0112_demos50/seed72/DP_Pretrain_base_policy_latest.pt deleted file mode 100644 index 35e4866a54e1b885b69c9c659a39b92cc679c5e8..0000000000000000000000000000000000000000 --- a/logs/robocasa__nutassemblyround/train_dp-0112_demos50/seed72/DP_Pretrain_base_policy_latest.pt +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:05c3d728544a5699f1a7ae3d809e93c8e9a8880ef4571a3f83d020acb86c7435 -size 347078466 diff --git a/logs/robocasa__nutassemblyround/train_dp-0112_demos50/seed72/config.yaml b/logs/robocasa__nutassemblyround/train_dp-0112_demos50/seed72/config.yaml deleted file mode 100644 index bb0945779cf2d403f0741f80e2a0a671c524f77d..0000000000000000000000000000000000000000 --- a/logs/robocasa__nutassemblyround/train_dp-0112_demos50/seed72/config.yaml +++ /dev/null @@ -1,114 +0,0 @@ -act: SiLU -action_dim: -1 -action_horizon: 1 -action_repeat: 3 -batch_length: 32 -batch_size: 16 -compile: true -cont_head: {layers: 2, loss_scale: 1.0, outscale: 1.0} -critic: {dist: normal_std_fixed, eps: 1e-05, grad_clip: 100.0, layers: 2, lr: 3e-05, - num_models: 5, num_subsample: 2, outscale: 0.0, slow_target: true, slow_target_fraction: 0.02, - slow_target_update: 1} -datadir: datasets/robocasa_datasets -debug: false -decoder: {act: SiLU, cnn_depth: 32, cnn_keys: .*image.*, cnn_sigmoid: false, image_dist: mse, - kernel_size: 4, minres: 4, mlp_keys: .*state.*, mlp_layers: 5, mlp_units: 1024, - norm: true, outscale: 1.0, vector_dist: symlog_mse} -deterministic_run: false -device: cuda:0 -discount: 0.99 -discount_lambda: 0.95 -done_mode: 1 -dp: - ac_chunk: 8 - action_space: deltas - batch_size: 128 - debug: false - device: cuda:0 - devices: 1 - eval_freq: 10000 - img_chunk: 2 - log_freq: 100 - lr: 0.0001 - max_iterations: 500000 - num_cams: 2 - pretrained_ckpt: '' - print_config: false - schedule_freq: 1 - seed: 292285 - shared_mlp: [] - train_steps: 30000 - train_transform: gpu_medium - use_if_ckpt_present: false -dyn_deter: 512 -dyn_discrete: 32 -dyn_hidden: 512 -dyn_mean_act: none -dyn_min_std: 0.1 -dyn_rec_depth: 1 -dyn_scale: 0.5 -dyn_std_act: sigmoid2 -dyn_stoch: 32 -encoder: {act: SiLU, cnn_depth: 32, cnn_keys: .*image.*, kernel_size: 4, minres: 4, - mlp_keys: .*state.*, mlp_layers: 5, mlp_units: 1024, norm: true, symlog_inputs: true} -env_max_steps: {bread: 300000.0, breadcanfixed: 500000.0, breadcanrandom: 500000.0, - cereal: 500000.0, door: 100000.0, nutassemblyround: 500000.0, stack: 300000.0} -env_time_limits: {bread: 200, breadcanfixed: 400, breadcanrandom: 400, cereal: 150, - door: 200, nutassemblyround: 300, stack: 150} -eval_num_runs: 50 -generate_highres_eval: false -grad_clip: 1000 -grad_heads: [decoder, cont] -high_res_render: false -highres_img_size: 1024 -imag_horizon: 7 -image_size: 64 -initial: learned -kl_free: 1.0 -log_every: 50 -logdir: scratch_dir//logs/robocasa__nutassemblyround/train_dp-0112_demos50/seed72 -model_lr: 0.0001 -mppi: {abs_residual: 0.2, action_l2_cost: 0, discount: 0.99, horizon: 8, init_std: 0.05, - iterations: 6, max_std: 0.1, min_std: 0.01, num_elites: 32, num_samples: 256, pretrained_ckpt: '', - temperature: 0.5, uncertainty_cost: 1.0} -norm: True' -normalize_state_actions: false -num_buffer_transitions: 100000 -num_envs: 10 -num_exp_trajs: 50 -num_exp_val_trajs: 1 -obs_horizon: 2 -opt: adam -opt_eps: 1e-08 -precision: 32 -pred_horizon: 8 -rep_scale: 0.1 -residual_actor: {absmax: null, dist: normal, entropy: 0.0003, eps: 1e-05, grad_clip: 100.0, - layers: 2, lr: 3e-05, max_std: 0.1, min_std: 0.01, outscale: 1.0, std: learned, - temp: 0.1, unimix_ratio: 0.01} -reward_EMA: true -reward_head: {dist: normal_std_fixed, layers: 2, outscale: 0.0} -scratch_dir: scratch_dir/ -seed: 72 -set: -- [image_size, '64'] -state_dim: -1 -state_only: false -task: robocasa__nutassemblyround -time_limit: 300 -train_dp_mppi: false -train_dp_mppi_params: {data_collect_noise_std: 0.1, discrim_state_only: true, dp_expert_buffer_ratio: 0.5, - eval_every_round: 10, force_warmup: true, min_env_steps_per_round: 3500, n_dp_train_itrs: 1000, - n_dp_traj_buffer_size: 64, n_env_steps: 500000.0, n_traj_to_relabel_per_round: 64, - rounds_train_ratio: 1.5, upate_discrim_every: 100, update_dp_every: 10, use_discrim: true, - warmstart_percentage_env_steps: 0.2, warmstart_train_ratio: 1.5} -unimix_ratio: 0.01 -units: 512 -update_dp: false -use_wandb: true -visualize_eval: true -viz_expert_buffer: false -wandb_entity: njuai -wandb_exp_name: robocasa__nutassemblyround/train_dp-0112_demos50 -wandb_project: Recovery -weight_decay: 0.0 diff --git a/logs/robocasa__stack/test_mppi_demos10/seed0/config.yaml b/logs/robocasa__stack/test_mppi_demos10/seed0/config.yaml deleted file mode 100644 index 804fe51f6bd25e8a25c841a88f969d9dd6e8394d..0000000000000000000000000000000000000000 --- a/logs/robocasa__stack/test_mppi_demos10/seed0/config.yaml +++ /dev/null @@ -1,123 +0,0 @@ -act: SiLU -action_dim: -1 -action_horizon: 1 -action_repeat: 3 -batch_length: 8 -batch_size: 4 -compile: true -cont_head: {layers: 2, loss_scale: 1.0, outscale: 1.0} -critic: {dist: normal_std_fixed, eps: 1e-05, grad_clip: 100.0, layers: 2, lr: 3e-05, - num_models: 5, num_subsample: 2, outscale: 0.0, slow_target: true, slow_target_fraction: 0.02, - slow_target_update: 1} -datadir: datasets/robocasa_datasets -debug: true -decoder: {act: SiLU, cnn_depth: 32, cnn_keys: .*image.*, cnn_sigmoid: false, image_dist: mse, - kernel_size: 4, minres: 4, mlp_keys: .*state.*, mlp_layers: 5, mlp_units: 1024, - norm: true, outscale: 1.0, vector_dist: symlog_mse} -deterministic_run: false -device: cuda:0 -discount: 0.99 -discount_lambda: 0.95 -done_mode: 1 -dp: - ac_chunk: 8 - action_space: deltas - batch_size: 128 - debug: false - device: cuda:0 - devices: 1 - eval_freq: 10 - img_chunk: 2 - log_freq: 100 - lr: 0.0001 - max_iterations: 500000 - num_cams: 2 - pretrained_ckpt: '' - print_config: false - schedule_freq: 1 - seed: 292285 - shared_mlp: [] - train_steps: 10 - train_transform: gpu_medium - use_if_ckpt_present: false -dyn_deter: 512 -dyn_discrete: 32 -dyn_hidden: 512 -dyn_mean_act: none -dyn_min_std: 0.1 -dyn_rec_depth: 1 -dyn_scale: 0.5 -dyn_std_act: sigmoid2 -dyn_stoch: 32 -encoder: {act: SiLU, cnn_depth: 32, cnn_keys: .*image.*, kernel_size: 4, minres: 4, - mlp_keys: .*state.*, mlp_layers: 5, mlp_units: 1024, norm: true, symlog_inputs: true} -encoder_net: {eval_interval: 2, train_steps: 10} -env_max_steps: {bread: 300000.0, breadcanfixed: 500000.0, breadcanrandom: 500000.0, - cereal: 500000.0, door: 100000.0, nutassemblyround: 500000.0, stack: 300000.0} -env_time_limits: {bread: 200, breadcanfixed: 400, breadcanrandom: 400, cereal: 150, - door: 200, nutassemblyround: 300, stack: 150} -eval_episode_num: 0 -eval_num_runs: 3 -generate_highres_eval: false -grad_clip: 1000 -grad_heads: [decoder, cont] -high_res_render: false -highres_img_size: 1024 -imag_horizon: 7 -image_size: 64 -initial: learned -kl_free: 1.0 -log_every: 50 -logdir: scratch_dir//logs/robocasa__stack/test_mppi_demos10/seed0 -model_lr: 0.0001 -mppi: {abs_residual: 0.2, action_l2_cost: 0, discount: 0.99, horizon: 8, init_std: 0.05, - iterations: 2, max_std: 0.1, min_std: 0.01, num_elites: 2, num_samples: 32, pretrained_ckpt: '', - temperature: 0.5, uncertainty_cost: 1.0} -norm: True' -normalize_state_actions: false -num_buffer_transitions: 50 -num_envs: 3 -num_exp_trajs: 10 -num_exp_val_trajs: 1 -obs_horizon: 2 -opt: adam -opt_eps: 1e-08 -precision: 32 -pred_horizon: 8 -prefill: 1 -pretrain: 1 -rep_scale: 0.1 -residual_actor: {absmax: null, dist: normal, entropy: 0.0003, eps: 1e-05, grad_clip: 100.0, - layers: 2, lr: 3e-05, max_std: 0.1, min_std: 0.01, outscale: 1.0, std: learned, - temp: 0.1, unimix_ratio: 0.01} -residual_training: {max_warmup_itrs: 100, n_steps_per_round: 100, n_training_rounds: 3, - num_trajs_per_round: 3, num_warmup_trajs: 3, warmstart_critic_loss: -10000} -retrain_dp_params: {new_trajs_to_collect: 3} -reward_EMA: true -reward_head: {dist: normal_std_fixed, layers: 2, outscale: 0.0} -scratch_dir: scratch_dir/ -seed: 0 -set: -- [image_size, '64'] -state_dim: -1 -state_only: false -steps_per_batch: 10 -task: robocasa__stack -time_limit: 150 -train_dp_mppi: true -train_dp_mppi_params: {data_collect_noise_std: 0.1, discrim_state_only: true, dp_expert_buffer_ratio: 0.5, - eval_every_round: 2, force_warmup: true, min_env_steps_per_round: 20, n_dp_train_itrs: 10, - n_dp_traj_buffer_size: 6, n_env_steps: 230, n_traj_to_relabel_per_round: 3, rounds_train_ratio: 1.5, - upate_discrim_every: 2, update_dp_every: 2, use_discrim: true, warmstart_percentage_env_steps: 0.2, - warmstart_train_ratio: 1.5} -train_ratio: 50 -unimix_ratio: 0.01 -units: 512 -update_dp: false -use_wandb: false -visualize_eval: true -viz_expert_buffer: true -wandb_entity: njuai -wandb_exp_name: robocasa__stack/test_mppi_demos10 -wandb_project: Recovery -weight_decay: 0.0 diff --git a/logs/robocasa__stack/train_dp-0112_demos15/seed0/DP_Pretrain_base_policy_latest.pt b/logs/robocasa__stack/train_dp-0112_demos15/seed0/DP_Pretrain_base_policy_latest.pt deleted file mode 100644 index 6641aef8186cc6e1f639e1c204132402aa4a392c..0000000000000000000000000000000000000000 --- a/logs/robocasa__stack/train_dp-0112_demos15/seed0/DP_Pretrain_base_policy_latest.pt +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:896aeb4c8076b1603b4bd85008631a13d1ebebfc1626b0a6e6be90695313bb69 -size 347078466 diff --git a/logs/robocasa__stack/train_dp-0112_demos15/seed0/config.yaml b/logs/robocasa__stack/train_dp-0112_demos15/seed0/config.yaml deleted file mode 100644 index 5bf236350e67fc76b450fd2474db7fe83ea2c459..0000000000000000000000000000000000000000 --- a/logs/robocasa__stack/train_dp-0112_demos15/seed0/config.yaml +++ /dev/null @@ -1,114 +0,0 @@ -act: SiLU -action_dim: -1 -action_horizon: 1 -action_repeat: 3 -batch_length: 32 -batch_size: 16 -compile: true -cont_head: {layers: 2, loss_scale: 1.0, outscale: 1.0} -critic: {dist: normal_std_fixed, eps: 1e-05, grad_clip: 100.0, layers: 2, lr: 3e-05, - num_models: 5, num_subsample: 2, outscale: 0.0, slow_target: true, slow_target_fraction: 0.02, - slow_target_update: 1} -datadir: datasets/robocasa_datasets -debug: false -decoder: {act: SiLU, cnn_depth: 32, cnn_keys: .*image.*, cnn_sigmoid: false, image_dist: mse, - kernel_size: 4, minres: 4, mlp_keys: .*state.*, mlp_layers: 5, mlp_units: 1024, - norm: true, outscale: 1.0, vector_dist: symlog_mse} -deterministic_run: false -device: cuda:0 -discount: 0.99 -discount_lambda: 0.95 -done_mode: 1 -dp: - ac_chunk: 8 - action_space: deltas - batch_size: 128 - debug: false - device: cuda:0 - devices: 1 - eval_freq: 10000 - img_chunk: 2 - log_freq: 100 - lr: 0.0001 - max_iterations: 500000 - num_cams: 2 - pretrained_ckpt: '' - print_config: false - schedule_freq: 1 - seed: 292285 - shared_mlp: [] - train_steps: 30000 - train_transform: gpu_medium - use_if_ckpt_present: false -dyn_deter: 512 -dyn_discrete: 32 -dyn_hidden: 512 -dyn_mean_act: none -dyn_min_std: 0.1 -dyn_rec_depth: 1 -dyn_scale: 0.5 -dyn_std_act: sigmoid2 -dyn_stoch: 32 -encoder: {act: SiLU, cnn_depth: 32, cnn_keys: .*image.*, kernel_size: 4, minres: 4, - mlp_keys: .*state.*, mlp_layers: 5, mlp_units: 1024, norm: true, symlog_inputs: true} -env_max_steps: {bread: 300000.0, breadcanfixed: 500000.0, breadcanrandom: 500000.0, - cereal: 500000.0, door: 100000.0, nutassemblyround: 500000.0, stack: 300000.0} -env_time_limits: {bread: 200, breadcanfixed: 400, breadcanrandom: 400, cereal: 150, - door: 200, nutassemblyround: 300, stack: 150} -eval_num_runs: 50 -generate_highres_eval: false -grad_clip: 1000 -grad_heads: [decoder, cont] -high_res_render: false -highres_img_size: 1024 -imag_horizon: 7 -image_size: 64 -initial: learned -kl_free: 1.0 -log_every: 50 -logdir: scratch_dir//logs/robocasa__stack/train_dp-0112_demos15/seed0 -model_lr: 0.0001 -mppi: {abs_residual: 0.2, action_l2_cost: 0, discount: 0.99, horizon: 8, init_std: 0.05, - iterations: 6, max_std: 0.1, min_std: 0.01, num_elites: 32, num_samples: 256, pretrained_ckpt: '', - temperature: 0.5, uncertainty_cost: 1.0} -norm: True' -normalize_state_actions: false -num_buffer_transitions: 100000 -num_envs: 10 -num_exp_trajs: 15 -num_exp_val_trajs: 1 -obs_horizon: 2 -opt: adam -opt_eps: 1e-08 -precision: 32 -pred_horizon: 8 -rep_scale: 0.1 -residual_actor: {absmax: null, dist: normal, entropy: 0.0003, eps: 1e-05, grad_clip: 100.0, - layers: 2, lr: 3e-05, max_std: 0.1, min_std: 0.01, outscale: 1.0, std: learned, - temp: 0.1, unimix_ratio: 0.01} -reward_EMA: true -reward_head: {dist: normal_std_fixed, layers: 2, outscale: 0.0} -scratch_dir: scratch_dir/ -seed: 0 -set: -- [image_size, 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abc0c4821f22e6805f915e898f3794adb3412130..0000000000000000000000000000000000000000 --- a/logs/robocasa__stack/train_dp-0112_demos15/seed72/config.yaml +++ /dev/null @@ -1,114 +0,0 @@ -act: SiLU -action_dim: -1 -action_horizon: 1 -action_repeat: 3 -batch_length: 32 -batch_size: 16 -compile: true -cont_head: {layers: 2, loss_scale: 1.0, outscale: 1.0} -critic: {dist: normal_std_fixed, eps: 1e-05, grad_clip: 100.0, layers: 2, lr: 3e-05, - num_models: 5, num_subsample: 2, outscale: 0.0, slow_target: true, slow_target_fraction: 0.02, - slow_target_update: 1} -datadir: datasets/robocasa_datasets -debug: false -decoder: {act: SiLU, cnn_depth: 32, cnn_keys: .*image.*, cnn_sigmoid: false, image_dist: mse, - kernel_size: 4, minres: 4, mlp_keys: .*state.*, mlp_layers: 5, mlp_units: 1024, - norm: true, outscale: 1.0, vector_dist: symlog_mse} -deterministic_run: false -device: cuda:0 -discount: 0.99 -discount_lambda: 0.95 -done_mode: 1 -dp: - ac_chunk: 8 - action_space: deltas - batch_size: 128 - debug: false - device: cuda:0 - devices: 1 - eval_freq: 10000 - img_chunk: 2 - log_freq: 100 - lr: 0.0001 - max_iterations: 500000 - num_cams: 2 - pretrained_ckpt: '' - print_config: false - schedule_freq: 1 - seed: 292285 - shared_mlp: [] - train_steps: 30000 - train_transform: gpu_medium - use_if_ckpt_present: false -dyn_deter: 512 -dyn_discrete: 32 -dyn_hidden: 512 -dyn_mean_act: none -dyn_min_std: 0.1 -dyn_rec_depth: 1 -dyn_scale: 0.5 -dyn_std_act: sigmoid2 -dyn_stoch: 32 -encoder: {act: SiLU, cnn_depth: 32, cnn_keys: .*image.*, kernel_size: 4, minres: 4, - mlp_keys: .*state.*, mlp_layers: 5, mlp_units: 1024, norm: true, symlog_inputs: true} -env_max_steps: {bread: 300000.0, breadcanfixed: 500000.0, breadcanrandom: 500000.0, - cereal: 500000.0, door: 100000.0, nutassemblyround: 500000.0, stack: 300000.0} -env_time_limits: {bread: 200, breadcanfixed: 400, breadcanrandom: 400, cereal: 150, - door: 200, nutassemblyround: 300, stack: 150} -eval_num_runs: 50 -generate_highres_eval: false -grad_clip: 1000 -grad_heads: [decoder, cont] -high_res_render: false -highres_img_size: 1024 -imag_horizon: 7 -image_size: 64 -initial: learned -kl_free: 1.0 -log_every: 50 -logdir: scratch_dir//logs/robocasa__stack/train_dp-0112_demos15/seed72 -model_lr: 0.0001 -mppi: {abs_residual: 0.2, action_l2_cost: 0, discount: 0.99, horizon: 8, init_std: 0.05, - iterations: 6, max_std: 0.1, min_std: 0.01, num_elites: 32, num_samples: 256, pretrained_ckpt: '', - temperature: 0.5, uncertainty_cost: 1.0} -norm: True' -normalize_state_actions: false -num_buffer_transitions: 100000 -num_envs: 10 -num_exp_trajs: 15 -num_exp_val_trajs: 1 -obs_horizon: 2 -opt: adam -opt_eps: 1e-08 -precision: 32 -pred_horizon: 8 -rep_scale: 0.1 -residual_actor: {absmax: null, dist: normal, entropy: 0.0003, eps: 1e-05, grad_clip: 100.0, - layers: 2, lr: 3e-05, max_std: 0.1, min_std: 0.01, outscale: 1.0, std: learned, - temp: 0.1, unimix_ratio: 0.01} -reward_EMA: true -reward_head: {dist: normal_std_fixed, layers: 2, outscale: 0.0} -scratch_dir: scratch_dir/ -seed: 72 -set: -- [image_size, '64'] -state_dim: -1 -state_only: false -task: robocasa__stack -time_limit: 150 -train_dp_mppi: false -train_dp_mppi_params: {data_collect_noise_std: 0.1, discrim_state_only: true, dp_expert_buffer_ratio: 0.5, - eval_every_round: 10, force_warmup: true, min_env_steps_per_round: 3500, n_dp_train_itrs: 1000, - n_dp_traj_buffer_size: 64, n_env_steps: 300000.0, n_traj_to_relabel_per_round: 64, - rounds_train_ratio: 1.5, upate_discrim_every: 100, update_dp_every: 10, use_discrim: true, - warmstart_percentage_env_steps: 0.2, warmstart_train_ratio: 1.5} -unimix_ratio: 0.01 -units: 512 -update_dp: false -use_wandb: true -visualize_eval: true -viz_expert_buffer: false -wandb_entity: njuai -wandb_exp_name: robocasa__stack/train_dp-0112_demos15 -wandb_project: Recovery -weight_decay: 0.0