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logs/robocasa__bread/test_mppi_demos10/seed0/config.yaml

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+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, 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__bread/test_mppi_demos10
+wandb_project: Recovery
+weight_decay: 0.0

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+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__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, 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

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