| { |
| "algorithm": "supermimic", |
| "actor_input_normalization": "rsl_rl_empirical_real_next_obs", |
| "task": "box_in_bin", |
| "seed": 1, |
| "smoke": false, |
| "reset_bank": "/mnt/data3/ZhouZhiqiang/supermimic_manipulation/banks/box_in_bin.pt", |
| "dataset": { |
| "contract": { |
| "task": "box_in_bin", |
| "robot": "arx5", |
| "joint_order": [ |
| "joint1", |
| "joint2", |
| "joint3", |
| "joint4", |
| "joint5", |
| "joint6", |
| "joint7", |
| "joint8" |
| ], |
| "frame": "robot_base_local", |
| "pose": "xyz_wxyz", |
| "joint_units": [ |
| "rad", |
| "rad", |
| "rad", |
| "rad", |
| "rad", |
| "rad", |
| "m", |
| "m" |
| ], |
| "joint_velocity_units": [ |
| "rad/s", |
| "rad/s", |
| "rad/s", |
| "rad/s", |
| "rad/s", |
| "rad/s", |
| "m/s", |
| "m/s" |
| ], |
| "position_unit": "m", |
| "box_velocity": "local_linear_xyz_angular_xyz", |
| "box_velocity_units": [ |
| "m/s", |
| "m/s", |
| "m/s", |
| "rad/s", |
| "rad/s", |
| "rad/s" |
| ], |
| "categories": [ |
| "ObjectAnywhereEEAnywhere", |
| "ObjectRestingEEGrasped", |
| "ObjectAnywhereEEGrasped", |
| "ObjectPartiallyAssembledEEGrasped" |
| ] |
| }, |
| "provenance": { |
| "workspace": { |
| "frame": "world", |
| "xy_min": [ |
| 0.2, |
| -0.2 |
| ], |
| "xy_max": [ |
| 0.5, |
| 0.3 |
| ], |
| "containment": "complete_object_geometry", |
| "units": "m" |
| }, |
| "proposal_workers": 64, |
| "proposal_seed_schedule": "base_seed_ordered_chunk_seedsequence", |
| "proposal_chunking": "balanced_contiguous_chunks_up_to_worker_count", |
| "method": "procedural_mjlab_contact_hold", |
| "candidate_source": "mujoco_fk", |
| "physics_randomization": false, |
| "compiled_physics": { |
| "gripper": { |
| "force_units": "N per finger", |
| "actuators": { |
| "joint7_position": { |
| "forcerange": [ |
| -5.0, |
| 5.0 |
| ], |
| "forcelimited": true, |
| "ctrlrange": [ |
| 0.002, |
| 0.044 |
| ], |
| "ctrllimited": true, |
| "gainprm": [ |
| 200.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "biasprm": [ |
| 0.0, |
| -200.0, |
| -50.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "gaintype": 0, |
| "biastype": 1 |
| }, |
| "joint8_position": { |
| "forcerange": [ |
| -5.0, |
| 5.0 |
| ], |
| "forcelimited": true, |
| "ctrlrange": [ |
| 0.002, |
| 0.044 |
| ], |
| "ctrllimited": true, |
| "gainprm": [ |
| 200.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "biasprm": [ |
| 0.0, |
| -200.0, |
| -50.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "gaintype": 0, |
| "biastype": 1 |
| } |
| } |
| }, |
| "gripper_contact": { |
| "friction_order": [ |
| "sliding", |
| "torsional", |
| "rolling" |
| ], |
| "geoms": { |
| "robot/link7_collision": { |
| "body": "robot/link7", |
| "friction": [ |
| 2.0, |
| 0.005, |
| 0.0001 |
| ], |
| "priority": 0, |
| "condim": 3, |
| "contype": 1, |
| "conaffinity": 1 |
| }, |
| "robot/link8_collision": { |
| "body": "robot/link8", |
| "friction": [ |
| 2.0, |
| 0.005, |
| 0.0001 |
| ], |
| "priority": 0, |
| "condim": 3, |
| "contype": 1, |
| "conaffinity": 1 |
| } |
| } |
| }, |
| "contact_solver": { |
| "cone": "elliptic", |
| "impratio": 5.0 |
| }, |
| "allocation_limits": { |
| "nconmax": 24, |
| "njmax": 128 |
| }, |
| "parameter_scope": "nominal compiled model; startup physics randomization disabled" |
| }, |
| "hold_command": "fixed_initial_ee_pose_via_relative_osc_action", |
| "replay_validation": { |
| "steps": 20, |
| "required_stable_steps": 20, |
| "counts": { |
| "ObjectAnywhereEEAnywhere": { |
| "tested": 19905, |
| "passed": 19905 |
| }, |
| "ObjectRestingEEGrasped": { |
| "tested": 19830, |
| "passed": 19800 |
| }, |
| "ObjectAnywhereEEGrasped": { |
| "tested": 19486, |
| "passed": 19368 |
| }, |
| "ObjectPartiallyAssembledEEGrasped": { |
| "tested": 19024, |
| "passed": 18982 |
| } |
| }, |
| "saved_state": "input_before_replay", |
| "command": "fixed_initial_ee_pose_and_same_gripper", |
| "seed_offset": 700000 |
| }, |
| "floating_grasp_source": "mujoco_fk", |
| "seed": 42, |
| "hold_steps": 10, |
| "hold_seconds": 0.5, |
| "accepted_consecutive_steps": 10, |
| "stable_seconds": 0.5, |
| "control_dt": 0.05, |
| "physics_dt": 0.0020833333333333333, |
| "decimation": 24, |
| "controller": { |
| "entity_name": "robot", |
| "clip": null, |
| "arm_joints": [ |
| "joint1", |
| "joint2", |
| "joint3", |
| "joint4", |
| "joint5", |
| "joint6" |
| ], |
| "finger_joints": [ |
| "joint7", |
| "joint8" |
| ], |
| "ee_body": "link6", |
| "closed_position": 0.002, |
| "open_position": 0.044, |
| "effort_limit": 50.0, |
| "inertia_solver": "pinv", |
| "inertia_rcond": 1e-10, |
| "uncouple_pos_ori": true, |
| "position_scale": 0.02, |
| "orientation_scale": 0.2, |
| "motion_stiffness": [ |
| 200.0, |
| 200.0, |
| 200.0, |
| 300.0, |
| 300.0, |
| 300.0 |
| ], |
| "motion_damping_ratio": [ |
| 3.0, |
| 3.0, |
| 3.0, |
| 1.0, |
| 1.0, |
| 1.0 |
| ], |
| "input_limit": 12.0, |
| "linear_velocity_limit": 1.5, |
| "angular_velocity_limit": 8.0 |
| }, |
| "num_envs": 10000, |
| "max_proposals_per_batch": 100000000, |
| "robot_table_penetration_limit_m": 0.001, |
| "initial_box_robot_contact_filter": true, |
| "ungrasped_box_xy_source": "collision_checked_resting_grasp" |
| }, |
| "split": "train", |
| "counts": { |
| "ObjectAnywhereEEAnywhere": 10000, |
| "ObjectRestingEEGrasped": 10000, |
| "ObjectAnywhereEEGrasped": 10000, |
| "ObjectPartiallyAssembledEEGrasped": 10000 |
| } |
| }, |
| "run": { |
| "iterations": 10000, |
| "buffer_steps": 1000, |
| "warmup_steps": 64, |
| "world_model_batches": 30, |
| "world_model_only_iterations": 1000, |
| "updates_per_sim_step": 0.4, |
| "learning_rate_decay_iterations": 10000, |
| "save_interval": 1000, |
| "log_interval": 50, |
| "action_noise": 0.1, |
| "compile_world_model": true, |
| "compile_policy_update": true, |
| "pin_replay": false, |
| "streaming_buffer_steps": 1000, |
| "world_model_schedule": "epochs", |
| "world_model_epochs": 4.0, |
| "validation_fraction": 0.05, |
| "validation_batches": 4, |
| "validation_recent_steps": 100, |
| "exploration_fraction": 0.0, |
| "exploration_start_probability": 0.05, |
| "exploration_steps": 10, |
| "policy_update_interval": 1 |
| }, |
| "imagination_overrides": {}, |
| "world_model_validation_envs": 205, |
| "agent": { |
| "wm_hidden": [ |
| 2048, |
| 2048, |
| 2048, |
| 2048, |
| 2048 |
| ], |
| "policy_hidden": [ |
| 2048, |
| 1024, |
| 512, |
| 256 |
| ], |
| "critic_hidden": [ |
| 256, |
| 128 |
| ], |
| "wm_window": 8, |
| "horizon": 16, |
| "wm_batch_size": 2048, |
| "policy_batch_size": 4096, |
| "learning_rate": 0.0002, |
| "gamma": 0.99, |
| "lambda_return": 0.95, |
| "critic_epochs": 5, |
| "critic_minibatches": 4, |
| "max_grad_norm": 1.0, |
| "policy_grad_value_clip": 0.1, |
| "normalizer_max_count": 200000000.0, |
| "amp": "bf16", |
| "tf32": true, |
| "wm_ensemble_size": 1, |
| "uncertainty_penalty": 0.0 |
| }, |
| "device": "cuda:0", |
| "device_name": "NVIDIA A100-SXM4-80GB", |
| "torch": "2.9.1+cu128", |
| "cuda": "12.8", |
| "precision": { |
| "parameters_normalizers_state_reward": "float32", |
| "mlp_autocast": "bf16", |
| "controller_ik": "float64", |
| "matmul_allow_tf32": true, |
| "cudnn_allow_tf32": true |
| }, |
| "torch_compile": true, |
| "torch_compile_scope": "world_model_rollout_loss", |
| "torch_compile_options": { |
| "fullgraph": true, |
| "dynamic": false, |
| "mode": "default" |
| }, |
| "torch_compile_policy_update": true, |
| "logger": "tensorboard", |
| "cuda_graph_mode": "plain", |
| "timeout_bootstrap": false, |
| "resume_is_exact": false, |
| "resume_checkpoint": null, |
| "evaluation": "separate complete-episode workflow (clab eval policy)", |
| "limitations": [ |
| "Bank controller match is not a physical hold/capacity certificate", |
| "World model is a reduced stochastic surrogate, not an exact MuJoCo state", |
| "Imagination reward/success is analytic from endpoint states, not a learned reward head", |
| "Endpoint imagination reward/success is approximate and need not match native contacts", |
| "Real collection and evaluation retain native rewards and terminal conditions" |
| ], |
| "reward_mode": "imagined_endpoint_geometry_velocity_release_shaped", |
| "reward_matches_native": false, |
| "cuda_graph_runtime": { |
| "enabled": true, |
| "graph_conditional": false, |
| "step_graph_created": true, |
| "forward_graph_created": true, |
| "reset_graph_created": true |
| } |
| } |
