| from typing import Dict | |
| from ml_collections import FrozenConfigDict | |
| # The tasks we in MetaWorld. | |
| METAWORLDTASKS = frozenset([ | |
| "assembly", | |
| "basketball", | |
| "button-press", | |
| "button-press-topdown", | |
| "door-close", | |
| "door-open", | |
| "drawer-open", | |
| "faucet-close", | |
| "faucet-open", | |
| "hammer", | |
| "handle-press", | |
| "push", | |
| "shelf-place", | |
| ]) | |
| # The tasks in robosuite | |
| ROBOSUITETASKS = frozenset([ | |
| "NutAssemblySquare", | |
| "Stack", | |
| "Lift", | |
| ]) | |
| # A mapping from MetaWorld task to Gym environment name. | |
| METAWORLD_TASK_TO_ENV_NAME: Dict[str, str] = { | |
| k: f"{k}-v2-goal-observable" | |
| for k in METAWORLDTASKS | |
| } | |
| # All available encoders. | |
| ALGORITHMS = frozenset([ | |
| "xirl", | |
| "tcn", | |
| "lifs", | |
| "goal_classifier", | |
| ]) | |
| # A mapping from x-MAGICAL embodiment to RL training iterations. | |
| MetaWorldTrainingIterations = FrozenConfigDict({ | |
| "assembly": 2_000_000, | |
| "basketball": 3_000_000, | |
| "button-press": 10_000_000, | |
| "button-press-topdown": 10_000_000, | |
| "door-close": 2_400_000, | |
| "door-open": 1_000_000, | |
| "drawer-open": 1_000_000, | |
| "faucet-close": 10_000_000, | |
| "faucet-open": 1_000_000, | |
| "hammer": 1_500_000, | |
| "handle-press": 10_000_000, | |
| "push": 10_000_000, | |
| "shelf-place": 10_000_000, | |
| }) | |
| RobosuiteTrainingIterations = FrozenConfigDict({ | |
| "NutAssemblySquare": 2_000_000, | |
| "Stack": 2_000_000, | |
| "Lift": 2_000_000, | |
| }) |