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- .gitattributes +16 -0
- data_files/core_datasets/coffee/demo_src_coffee_task_D0/demo.hdf5 +3 -0
- data_files/core_datasets/coffee/demo_src_coffee_task_D0/demo_failed.hdf5 +3 -0
- data_files/core_datasets/coffee/demo_src_coffee_task_D0/playback_demo_src_coffee_task_D0.mp4 +3 -0
- data_files/core_datasets/coffee/demo_src_coffee_task_D0/playback_demo_src_coffee_task_D0_failed.mp4 +3 -0
- data_files/core_datasets/square/demo_src_square_task_D0/demo.hdf5 +3 -0
- data_files/core_datasets/square/demo_src_square_task_D0/demo_failed.hdf5 +3 -0
- data_files/core_datasets/square/demo_src_square_task_D0/playback_demo_src_square_task_D0.mp4 +3 -0
- data_files/core_datasets/square/demo_src_square_task_D0/playback_demo_src_square_task_D0_failed.mp4 +3 -0
- data_files/core_datasets/stack_three/demo_src_stack_three_task_D0/demo.hdf5 +3 -0
- data_files/core_datasets/stack_three/demo_src_stack_three_task_D0/demo_failed.hdf5 +3 -0
- data_files/core_datasets/stack_three/demo_src_stack_three_task_D0/playback_demo_src_stack_three_task_D0.mp4 +3 -0
- data_files/core_datasets/stack_three/demo_src_stack_three_task_D0/playback_demo_src_stack_three_task_D0_failed.mp4 +3 -0
- data_files/core_datasets/three_piece_assembly/demo_src_three_piece_assembly_task_D0/demo.hdf5 +3 -0
- data_files/core_datasets/three_piece_assembly/demo_src_three_piece_assembly_task_D0/demo_failed.hdf5 +3 -0
- data_files/core_datasets/three_piece_assembly/demo_src_three_piece_assembly_task_D0/playback_demo_src_three_piece_assembly_task_D0.mp4 +3 -0
- data_files/core_datasets/three_piece_assembly/demo_src_three_piece_assembly_task_D0/playback_demo_src_three_piece_assembly_task_D0_failed.mp4 +3 -0
- data_files/core_train_configs/bc_rnn_image_ds_coffee_D0_seed_101.json +241 -0
- data_files/core_train_configs/bc_rnn_image_ds_coffee_D1_seed_101.json +241 -0
- data_files/core_train_configs/bc_rnn_image_ds_coffee_D2_seed_101.json +241 -0
- data_files/core_train_configs/bc_rnn_image_ds_coffee_preparation_D0_seed_101.json +241 -0
- data_files/core_train_configs/bc_rnn_image_ds_coffee_preparation_D1_seed_101.json +241 -0
- data_files/core_train_configs/bc_rnn_image_ds_hammer_cleanup_D0_seed_101.json +241 -0
- data_files/core_train_configs/bc_rnn_image_ds_hammer_cleanup_D1_seed_101.json +241 -0
- data_files/core_train_configs/bc_rnn_image_ds_kitchen_D0_seed_101.json +241 -0
- data_files/core_train_configs/bc_rnn_image_ds_kitchen_D1_seed_101.json +241 -0
- data_files/core_train_configs/bc_rnn_image_ds_mug_cleanup_D0_seed_101.json +241 -0
- data_files/core_train_configs/bc_rnn_image_ds_mug_cleanup_D1_seed_101.json +241 -0
- data_files/core_train_configs/bc_rnn_image_ds_mug_cleanup_O1_seed_101.json +241 -0
- data_files/core_train_configs/bc_rnn_image_ds_mug_cleanup_O2_seed_101.json +241 -0
- data_files/core_train_configs/bc_rnn_image_ds_nut_assembly_D0_seed_101.json +241 -0
- data_files/core_train_configs/bc_rnn_image_ds_pick_place_D0_seed_101.json +241 -0
- data_files/core_train_configs/bc_rnn_image_ds_square_D0_seed_101.json +241 -0
- data_files/core_train_configs/bc_rnn_image_ds_square_D1_seed_101.json +241 -0
- data_files/core_train_configs/bc_rnn_image_ds_square_D2_seed_101.json +241 -0
- data_files/core_train_configs/bc_rnn_image_ds_stack_D0_seed_101.json +241 -0
- data_files/core_train_configs/bc_rnn_image_ds_stack_D1_seed_101.json +241 -0
- data_files/core_train_configs/bc_rnn_image_ds_stack_three_D0_seed_101.json +241 -0
- data_files/core_train_configs/bc_rnn_image_ds_stack_three_D1_seed_101.json +241 -0
- data_files/core_train_configs/bc_rnn_image_ds_threading_D0_seed_101.json +241 -0
- data_files/core_train_configs/bc_rnn_image_ds_threading_D1_seed_101.json +241 -0
- data_files/core_train_configs/bc_rnn_image_ds_threading_D2_seed_101.json +241 -0
- data_files/core_train_configs/bc_rnn_image_ds_three_piece_assembly_D0_seed_101.json +241 -0
- data_files/core_train_configs/bc_rnn_image_ds_three_piece_assembly_D1_seed_101.json +241 -0
- data_files/core_train_configs/bc_rnn_image_ds_three_piece_assembly_D2_seed_101.json +241 -0
- data_files/core_train_configs/bc_rnn_low_dim_ds_coffee_D0_seed_101.json +218 -0
- data_files/core_train_configs/bc_rnn_low_dim_ds_coffee_D1_seed_101.json +218 -0
- data_files/core_train_configs/bc_rnn_low_dim_ds_coffee_D2_seed_101.json +218 -0
- data_files/core_train_configs/bc_rnn_low_dim_ds_coffee_preparation_D0_seed_101.json +218 -0
- data_files/core_train_configs/bc_rnn_low_dim_ds_coffee_preparation_D1_seed_101.json +218 -0
.gitattributes
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"algo_name": "bc",
|
| 3 |
+
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|
| 4 |
+
"name": "bc_rnn_image_ds_coffee_D0_seed_101",
|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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|
| 11 |
+
},
|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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"on_best_rollout_return": false,
|
| 19 |
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"on_best_rollout_success_rate": true
|
| 20 |
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},
|
| 21 |
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"epoch_every_n_steps": 500,
|
| 22 |
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"validation_epoch_every_n_steps": 50,
|
| 23 |
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"env": null,
|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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}
|
| 37 |
+
},
|
| 38 |
+
"train": {
|
| 39 |
+
"data": "./data_files/core_datasets/coffee/demo_src_coffee_task_D0/demo.hdf5",
|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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"frame_stack": 1,
|
| 51 |
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"pad_frame_stack": true,
|
| 52 |
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"dataset_keys": [
|
| 53 |
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"actions",
|
| 54 |
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"rewards",
|
| 55 |
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"dones"
|
| 56 |
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],
|
| 57 |
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|
| 58 |
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"cuda": true,
|
| 59 |
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"batch_size": 16,
|
| 60 |
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"num_epochs": 600,
|
| 61 |
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"seed": 101
|
| 62 |
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},
|
| 63 |
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"algo": {
|
| 64 |
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|
| 65 |
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"policy": {
|
| 66 |
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"optimizer_type": "adam",
|
| 67 |
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"learning_rate": {
|
| 68 |
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"initial": 0.0001,
|
| 69 |
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|
| 70 |
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|
| 71 |
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"scheduler_type": "multistep"
|
| 72 |
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},
|
| 73 |
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"regularization": {
|
| 74 |
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"L2": 0.0
|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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"loss": {
|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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"gmm": {
|
| 93 |
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"enabled": true,
|
| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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"is_conditioned": true,
|
| 106 |
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"reconstruction_sum_across_elements": false
|
| 107 |
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|
| 108 |
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"prior": {
|
| 109 |
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"learn": false,
|
| 110 |
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|
| 111 |
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"use_gmm": false,
|
| 112 |
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"gmm_num_modes": 10,
|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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"encoder_layer_dims": [
|
| 122 |
+
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|
| 123 |
+
400
|
| 124 |
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],
|
| 125 |
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|
| 126 |
+
300,
|
| 127 |
+
400
|
| 128 |
+
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|
| 129 |
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"prior_layer_dims": [
|
| 130 |
+
300,
|
| 131 |
+
400
|
| 132 |
+
]
|
| 133 |
+
},
|
| 134 |
+
"rnn": {
|
| 135 |
+
"enabled": true,
|
| 136 |
+
"horizon": 10,
|
| 137 |
+
"hidden_dim": 1000,
|
| 138 |
+
"rnn_type": "LSTM",
|
| 139 |
+
"num_layers": 2,
|
| 140 |
+
"open_loop": false,
|
| 141 |
+
"kwargs": {
|
| 142 |
+
"bidirectional": false
|
| 143 |
+
}
|
| 144 |
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},
|
| 145 |
+
"transformer": {
|
| 146 |
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"enabled": false,
|
| 147 |
+
"context_length": 10,
|
| 148 |
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"embed_dim": 512,
|
| 149 |
+
"num_layers": 6,
|
| 150 |
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"num_heads": 8,
|
| 151 |
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"emb_dropout": 0.1,
|
| 152 |
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"attn_dropout": 0.1,
|
| 153 |
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"block_output_dropout": 0.1,
|
| 154 |
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"sinusoidal_embedding": false,
|
| 155 |
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"activation": "gelu",
|
| 156 |
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"supervise_all_steps": false,
|
| 157 |
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"nn_parameter_for_timesteps": true
|
| 158 |
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}
|
| 159 |
+
},
|
| 160 |
+
"observation": {
|
| 161 |
+
"modalities": {
|
| 162 |
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"obs": {
|
| 163 |
+
"low_dim": [
|
| 164 |
+
"robot0_eef_pos",
|
| 165 |
+
"robot0_eef_quat",
|
| 166 |
+
"robot0_gripper_qpos"
|
| 167 |
+
],
|
| 168 |
+
"rgb": [
|
| 169 |
+
"agentview_image",
|
| 170 |
+
"robot0_eye_in_hand_image"
|
| 171 |
+
],
|
| 172 |
+
"depth": [],
|
| 173 |
+
"scan": []
|
| 174 |
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},
|
| 175 |
+
"goal": {
|
| 176 |
+
"low_dim": [],
|
| 177 |
+
"rgb": [],
|
| 178 |
+
"depth": [],
|
| 179 |
+
"scan": []
|
| 180 |
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}
|
| 181 |
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},
|
| 182 |
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"encoder": {
|
| 183 |
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"low_dim": {
|
| 184 |
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"core_class": null,
|
| 185 |
+
"core_kwargs": {},
|
| 186 |
+
"obs_randomizer_class": null,
|
| 187 |
+
"obs_randomizer_kwargs": {}
|
| 188 |
+
},
|
| 189 |
+
"rgb": {
|
| 190 |
+
"core_class": "VisualCore",
|
| 191 |
+
"core_kwargs": {
|
| 192 |
+
"feature_dimension": 64,
|
| 193 |
+
"flatten": true,
|
| 194 |
+
"backbone_class": "ResNet18Conv",
|
| 195 |
+
"backbone_kwargs": {
|
| 196 |
+
"pretrained": false,
|
| 197 |
+
"input_coord_conv": false
|
| 198 |
+
},
|
| 199 |
+
"pool_class": "SpatialSoftmax",
|
| 200 |
+
"pool_kwargs": {
|
| 201 |
+
"num_kp": 32,
|
| 202 |
+
"learnable_temperature": false,
|
| 203 |
+
"temperature": 1.0,
|
| 204 |
+
"noise_std": 0.0,
|
| 205 |
+
"output_variance": false
|
| 206 |
+
}
|
| 207 |
+
},
|
| 208 |
+
"obs_randomizer_class": "CropRandomizer",
|
| 209 |
+
"obs_randomizer_kwargs": {
|
| 210 |
+
"crop_height": 76,
|
| 211 |
+
"crop_width": 76,
|
| 212 |
+
"num_crops": 1,
|
| 213 |
+
"pos_enc": false
|
| 214 |
+
}
|
| 215 |
+
},
|
| 216 |
+
"depth": {
|
| 217 |
+
"core_class": "VisualCore",
|
| 218 |
+
"core_kwargs": {},
|
| 219 |
+
"obs_randomizer_class": null,
|
| 220 |
+
"obs_randomizer_kwargs": {}
|
| 221 |
+
},
|
| 222 |
+
"scan": {
|
| 223 |
+
"core_class": "ScanCore",
|
| 224 |
+
"core_kwargs": {},
|
| 225 |
+
"obs_randomizer_class": null,
|
| 226 |
+
"obs_randomizer_kwargs": {}
|
| 227 |
+
}
|
| 228 |
+
}
|
| 229 |
+
},
|
| 230 |
+
"meta": {
|
| 231 |
+
"hp_base_config_file": "/tmp/core_train_configs/bc.json",
|
| 232 |
+
"hp_keys": [
|
| 233 |
+
"ds",
|
| 234 |
+
"seed"
|
| 235 |
+
],
|
| 236 |
+
"hp_values": [
|
| 237 |
+
"coffee_D0",
|
| 238 |
+
101
|
| 239 |
+
]
|
| 240 |
+
}
|
| 241 |
+
}
|
data_files/core_train_configs/bc_rnn_image_ds_coffee_D1_seed_101.json
ADDED
|
@@ -0,0 +1,241 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"algo_name": "bc",
|
| 3 |
+
"experiment": {
|
| 4 |
+
"name": "bc_rnn_image_ds_coffee_D1_seed_101",
|
| 5 |
+
"validate": false,
|
| 6 |
+
"logging": {
|
| 7 |
+
"terminal_output_to_txt": true,
|
| 8 |
+
"log_tb": true,
|
| 9 |
+
"log_wandb": false,
|
| 10 |
+
"wandb_proj_name": "debug"
|
| 11 |
+
},
|
| 12 |
+
"save": {
|
| 13 |
+
"enabled": true,
|
| 14 |
+
"every_n_seconds": null,
|
| 15 |
+
"every_n_epochs": 20,
|
| 16 |
+
"epochs": [],
|
| 17 |
+
"on_best_validation": false,
|
| 18 |
+
"on_best_rollout_return": false,
|
| 19 |
+
"on_best_rollout_success_rate": true
|
| 20 |
+
},
|
| 21 |
+
"epoch_every_n_steps": 500,
|
| 22 |
+
"validation_epoch_every_n_steps": 50,
|
| 23 |
+
"env": null,
|
| 24 |
+
"additional_envs": null,
|
| 25 |
+
"render": false,
|
| 26 |
+
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|
| 27 |
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| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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| 32 |
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| 33 |
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| 34 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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| 40 |
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| 41 |
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| 134 |
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|
| 136 |
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| 141 |
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| 142 |
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| 143 |
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| 145 |
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| 160 |
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| 162 |
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| 167 |
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| 168 |
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|
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| 172 |
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| 173 |
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| 175 |
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| 177 |
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| 179 |
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| 182 |
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| 183 |
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| 185 |
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| 186 |
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| 187 |
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| 188 |
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| 189 |
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| 190 |
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|
| 191 |
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| 192 |
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| 193 |
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|
| 194 |
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|
| 195 |
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|
| 196 |
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|
| 197 |
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|
| 198 |
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|
| 199 |
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|
| 200 |
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|
| 201 |
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|
| 202 |
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|
| 203 |
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|
| 204 |
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|
| 205 |
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|
| 206 |
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|
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|
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|
| 209 |
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|
| 210 |
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|
| 211 |
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|
| 212 |
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|
| 213 |
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|
| 214 |
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|
| 215 |
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|
| 216 |
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"depth": {
|
| 217 |
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|
| 218 |
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|
| 219 |
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|
| 220 |
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|
| 221 |
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|
| 222 |
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|
| 223 |
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|
| 224 |
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|
| 225 |
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|
| 226 |
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|
| 227 |
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|
| 228 |
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|
| 229 |
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},
|
| 230 |
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"meta": {
|
| 231 |
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"hp_base_config_file": "/tmp/core_train_configs/bc.json",
|
| 232 |
+
"hp_keys": [
|
| 233 |
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|
| 234 |
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|
| 235 |
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],
|
| 236 |
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"hp_values": [
|
| 237 |
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|
| 238 |
+
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|
| 239 |
+
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|
| 240 |
+
}
|
| 241 |
+
}
|
data_files/core_train_configs/bc_rnn_image_ds_coffee_D2_seed_101.json
ADDED
|
@@ -0,0 +1,241 @@
|
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|
|
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|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
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|
|
|
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|
|
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|
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|
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|
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|
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|
|
|
|
|
|
|
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|
|
|
|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
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|
|
|
|
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|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
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|
|
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|
|
|
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|
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|
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|
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|
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|
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|
|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
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|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
| 1 |
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{
|
| 2 |
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"algo_name": "bc",
|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
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| 9 |
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|
| 11 |
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|
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|
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|
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|
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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"train": {
|
| 39 |
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"data": "/tmp/core_datasets/coffee/demo_src_coffee_task_D2/demo.hdf5",
|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 62 |
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| 78 |
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| 88 |
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|
| 89 |
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|
| 91 |
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|
| 92 |
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|
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|
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|
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|
| 124 |
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| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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|
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|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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|
| 167 |
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|
| 168 |
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|
| 169 |
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|
| 170 |
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|
| 171 |
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|
| 172 |
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|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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|
| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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|
| 189 |
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|
| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
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"backbone_kwargs": {
|
| 196 |
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"pretrained": false,
|
| 197 |
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|
| 198 |
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|
| 199 |
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"pool_class": "SpatialSoftmax",
|
| 200 |
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|
| 201 |
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|
| 202 |
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|
| 203 |
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|
| 204 |
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|
| 205 |
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|
| 206 |
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|
| 207 |
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|
| 208 |
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|
| 209 |
+
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|
| 210 |
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|
| 211 |
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"crop_width": 76,
|
| 212 |
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|
| 213 |
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|
| 214 |
+
}
|
| 215 |
+
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|
| 216 |
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"depth": {
|
| 217 |
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"core_class": "VisualCore",
|
| 218 |
+
"core_kwargs": {},
|
| 219 |
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"obs_randomizer_class": null,
|
| 220 |
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|
| 221 |
+
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|
| 222 |
+
"scan": {
|
| 223 |
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"core_class": "ScanCore",
|
| 224 |
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|
| 225 |
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|
| 226 |
+
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|
| 227 |
+
}
|
| 228 |
+
}
|
| 229 |
+
},
|
| 230 |
+
"meta": {
|
| 231 |
+
"hp_base_config_file": "/tmp/core_train_configs/bc.json",
|
| 232 |
+
"hp_keys": [
|
| 233 |
+
"ds",
|
| 234 |
+
"seed"
|
| 235 |
+
],
|
| 236 |
+
"hp_values": [
|
| 237 |
+
"coffee_D2",
|
| 238 |
+
101
|
| 239 |
+
]
|
| 240 |
+
}
|
| 241 |
+
}
|
data_files/core_train_configs/bc_rnn_image_ds_coffee_preparation_D0_seed_101.json
ADDED
|
@@ -0,0 +1,241 @@
|
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|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
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|
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|
|
|
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|
|
|
|
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|
|
|
|
|
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|
|
|
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|
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|
|
|
|
|
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|
|
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|
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|
|
|
|
|
|
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|
|
|
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|
|
|
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|
|
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|
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|
|
|
|
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|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
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|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
|
|
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|
|
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|
|
|
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|
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|
|
|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
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|
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|
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|
|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
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|
|
|
|
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|
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|
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|
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|
|
|
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|
|
|
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
| 1 |
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{
|
| 2 |
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"algo_name": "bc",
|
| 3 |
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"experiment": {
|
| 4 |
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"name": "bc_rnn_image_ds_coffee_preparation_D0_seed_101",
|
| 5 |
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"validate": false,
|
| 6 |
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"logging": {
|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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"wandb_proj_name": "debug"
|
| 11 |
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},
|
| 12 |
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|
| 13 |
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"enabled": true,
|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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},
|
| 21 |
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"epoch_every_n_steps": 500,
|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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"render": false,
|
| 26 |
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|
| 27 |
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|
| 28 |
+
"video_skip": 5,
|
| 29 |
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"rollout": {
|
| 30 |
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|
| 31 |
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"n": 50,
|
| 32 |
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|
| 33 |
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"rate": 20,
|
| 34 |
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"warmstart": 0,
|
| 35 |
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"terminate_on_success": true
|
| 36 |
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}
|
| 37 |
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},
|
| 38 |
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"train": {
|
| 39 |
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"data": "/tmp/core_datasets/coffee_preparation/demo_src_coffee_preparation_task_D0/demo.hdf5",
|
| 40 |
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"output_dir": "/tmp/core_training_results",
|
| 41 |
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|
| 42 |
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|
| 43 |
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| 44 |
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| 45 |
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| 48 |
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| 49 |
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|
| 50 |
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|
| 51 |
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| 52 |
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"dataset_keys": [
|
| 53 |
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| 54 |
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|
| 55 |
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|
| 56 |
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| 58 |
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| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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"policy": {
|
| 66 |
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"optimizer_type": "adam",
|
| 67 |
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|
| 68 |
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|
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|
| 70 |
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|
| 71 |
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|
| 72 |
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| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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| 78 |
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"loss": {
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| 79 |
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|
| 80 |
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| 81 |
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| 82 |
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| 83 |
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|
| 84 |
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| 85 |
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| 86 |
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| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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| 92 |
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| 93 |
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|
| 94 |
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|
| 95 |
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|
| 96 |
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|
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|
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|
| 99 |
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|
| 100 |
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|
| 101 |
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|
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|
| 103 |
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|
| 104 |
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"decoder": {
|
| 105 |
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|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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|
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|
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|
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|
| 113 |
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|
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|
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|
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|
| 119 |
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|
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|
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| 134 |
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|
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|
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|
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|
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|
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|
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|
| 153 |
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"block_output_dropout": 0.1,
|
| 154 |
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"sinusoidal_embedding": false,
|
| 155 |
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"activation": "gelu",
|
| 156 |
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"supervise_all_steps": false,
|
| 157 |
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"nn_parameter_for_timesteps": true
|
| 158 |
+
}
|
| 159 |
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},
|
| 160 |
+
"observation": {
|
| 161 |
+
"modalities": {
|
| 162 |
+
"obs": {
|
| 163 |
+
"low_dim": [
|
| 164 |
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"robot0_eef_pos",
|
| 165 |
+
"robot0_eef_quat",
|
| 166 |
+
"robot0_gripper_qpos"
|
| 167 |
+
],
|
| 168 |
+
"rgb": [
|
| 169 |
+
"agentview_image",
|
| 170 |
+
"robot0_eye_in_hand_image"
|
| 171 |
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],
|
| 172 |
+
"depth": [],
|
| 173 |
+
"scan": []
|
| 174 |
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},
|
| 175 |
+
"goal": {
|
| 176 |
+
"low_dim": [],
|
| 177 |
+
"rgb": [],
|
| 178 |
+
"depth": [],
|
| 179 |
+
"scan": []
|
| 180 |
+
}
|
| 181 |
+
},
|
| 182 |
+
"encoder": {
|
| 183 |
+
"low_dim": {
|
| 184 |
+
"core_class": null,
|
| 185 |
+
"core_kwargs": {},
|
| 186 |
+
"obs_randomizer_class": null,
|
| 187 |
+
"obs_randomizer_kwargs": {}
|
| 188 |
+
},
|
| 189 |
+
"rgb": {
|
| 190 |
+
"core_class": "VisualCore",
|
| 191 |
+
"core_kwargs": {
|
| 192 |
+
"feature_dimension": 64,
|
| 193 |
+
"flatten": true,
|
| 194 |
+
"backbone_class": "ResNet18Conv",
|
| 195 |
+
"backbone_kwargs": {
|
| 196 |
+
"pretrained": false,
|
| 197 |
+
"input_coord_conv": false
|
| 198 |
+
},
|
| 199 |
+
"pool_class": "SpatialSoftmax",
|
| 200 |
+
"pool_kwargs": {
|
| 201 |
+
"num_kp": 32,
|
| 202 |
+
"learnable_temperature": false,
|
| 203 |
+
"temperature": 1.0,
|
| 204 |
+
"noise_std": 0.0,
|
| 205 |
+
"output_variance": false
|
| 206 |
+
}
|
| 207 |
+
},
|
| 208 |
+
"obs_randomizer_class": "CropRandomizer",
|
| 209 |
+
"obs_randomizer_kwargs": {
|
| 210 |
+
"crop_height": 76,
|
| 211 |
+
"crop_width": 76,
|
| 212 |
+
"num_crops": 1,
|
| 213 |
+
"pos_enc": false
|
| 214 |
+
}
|
| 215 |
+
},
|
| 216 |
+
"depth": {
|
| 217 |
+
"core_class": "VisualCore",
|
| 218 |
+
"core_kwargs": {},
|
| 219 |
+
"obs_randomizer_class": null,
|
| 220 |
+
"obs_randomizer_kwargs": {}
|
| 221 |
+
},
|
| 222 |
+
"scan": {
|
| 223 |
+
"core_class": "ScanCore",
|
| 224 |
+
"core_kwargs": {},
|
| 225 |
+
"obs_randomizer_class": null,
|
| 226 |
+
"obs_randomizer_kwargs": {}
|
| 227 |
+
}
|
| 228 |
+
}
|
| 229 |
+
},
|
| 230 |
+
"meta": {
|
| 231 |
+
"hp_base_config_file": "/tmp/core_train_configs/bc.json",
|
| 232 |
+
"hp_keys": [
|
| 233 |
+
"ds",
|
| 234 |
+
"seed"
|
| 235 |
+
],
|
| 236 |
+
"hp_values": [
|
| 237 |
+
"coffee_preparation_D0",
|
| 238 |
+
101
|
| 239 |
+
]
|
| 240 |
+
}
|
| 241 |
+
}
|
data_files/core_train_configs/bc_rnn_image_ds_coffee_preparation_D1_seed_101.json
ADDED
|
@@ -0,0 +1,241 @@
|
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|
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|
|
|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
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|
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|
|
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|
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|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"algo_name": "bc",
|
| 3 |
+
"experiment": {
|
| 4 |
+
"name": "bc_rnn_image_ds_coffee_preparation_D1_seed_101",
|
| 5 |
+
"validate": false,
|
| 6 |
+
"logging": {
|
| 7 |
+
"terminal_output_to_txt": true,
|
| 8 |
+
"log_tb": true,
|
| 9 |
+
"log_wandb": false,
|
| 10 |
+
"wandb_proj_name": "debug"
|
| 11 |
+
},
|
| 12 |
+
"save": {
|
| 13 |
+
"enabled": true,
|
| 14 |
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"every_n_seconds": null,
|
| 15 |
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"every_n_epochs": 20,
|
| 16 |
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"epochs": [],
|
| 17 |
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"on_best_validation": false,
|
| 18 |
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"on_best_rollout_return": false,
|
| 19 |
+
"on_best_rollout_success_rate": true
|
| 20 |
+
},
|
| 21 |
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"epoch_every_n_steps": 500,
|
| 22 |
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"validation_epoch_every_n_steps": 50,
|
| 23 |
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"env": null,
|
| 24 |
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"additional_envs": null,
|
| 25 |
+
"render": false,
|
| 26 |
+
"render_video": true,
|
| 27 |
+
"keep_all_videos": false,
|
| 28 |
+
"video_skip": 5,
|
| 29 |
+
"rollout": {
|
| 30 |
+
"enabled": true,
|
| 31 |
+
"n": 50,
|
| 32 |
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"horizon": 800,
|
| 33 |
+
"rate": 20,
|
| 34 |
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"warmstart": 0,
|
| 35 |
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"terminate_on_success": true
|
| 36 |
+
}
|
| 37 |
+
},
|
| 38 |
+
"train": {
|
| 39 |
+
"data": "/tmp/core_datasets/coffee_preparation/demo_src_coffee_preparation_task_D1/demo.hdf5",
|
| 40 |
+
"output_dir": "/tmp/core_training_results",
|
| 41 |
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"num_data_workers": 4,
|
| 42 |
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"hdf5_cache_mode": "low_dim",
|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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"hdf5_filter_key": null,
|
| 47 |
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|
| 48 |
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"seq_length": 10,
|
| 49 |
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"pad_seq_length": true,
|
| 50 |
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"frame_stack": 1,
|
| 51 |
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"pad_frame_stack": true,
|
| 52 |
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"dataset_keys": [
|
| 53 |
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"actions",
|
| 54 |
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|
| 55 |
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|
| 56 |
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],
|
| 57 |
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"goal_mode": null,
|
| 58 |
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"cuda": true,
|
| 59 |
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"batch_size": 16,
|
| 60 |
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"num_epochs": 600,
|
| 61 |
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"seed": 101
|
| 62 |
+
},
|
| 63 |
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"algo": {
|
| 64 |
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"optim_params": {
|
| 65 |
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"policy": {
|
| 66 |
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"optimizer_type": "adam",
|
| 67 |
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"learning_rate": {
|
| 68 |
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"initial": 0.0001,
|
| 69 |
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"decay_factor": 0.1,
|
| 70 |
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"epoch_schedule": [],
|
| 71 |
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"scheduler_type": "multistep"
|
| 72 |
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},
|
| 73 |
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"regularization": {
|
| 74 |
+
"L2": 0.0
|
| 75 |
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}
|
| 76 |
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}
|
| 77 |
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},
|
| 78 |
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"loss": {
|
| 79 |
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"l2_weight": 1.0,
|
| 80 |
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"l1_weight": 0.0,
|
| 81 |
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"cos_weight": 0.0
|
| 82 |
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|
| 83 |
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"actor_layer_dims": [],
|
| 84 |
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"gaussian": {
|
| 85 |
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"enabled": false,
|
| 86 |
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"fixed_std": false,
|
| 87 |
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"init_std": 0.1,
|
| 88 |
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"min_std": 0.01,
|
| 89 |
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"std_activation": "softplus",
|
| 90 |
+
"low_noise_eval": true
|
| 91 |
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},
|
| 92 |
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"gmm": {
|
| 93 |
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"enabled": true,
|
| 94 |
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"num_modes": 5,
|
| 95 |
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"min_std": 0.0001,
|
| 96 |
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"std_activation": "softplus",
|
| 97 |
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"low_noise_eval": true
|
| 98 |
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},
|
| 99 |
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"vae": {
|
| 100 |
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"enabled": false,
|
| 101 |
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|
| 102 |
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"latent_clip": null,
|
| 103 |
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"kl_weight": 1.0,
|
| 104 |
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"decoder": {
|
| 105 |
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"is_conditioned": true,
|
| 106 |
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"reconstruction_sum_across_elements": false
|
| 107 |
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|
| 108 |
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"prior": {
|
| 109 |
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"learn": false,
|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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"categorical_dim": 10,
|
| 116 |
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"categorical_gumbel_softmax_hard": false,
|
| 117 |
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"categorical_init_temp": 1.0,
|
| 118 |
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"categorical_temp_anneal_step": 0.001,
|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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},
|
| 134 |
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"rnn": {
|
| 135 |
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"enabled": true,
|
| 136 |
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|
| 137 |
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"hidden_dim": 1000,
|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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"kwargs": {
|
| 142 |
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"bidirectional": false
|
| 143 |
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}
|
| 144 |
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},
|
| 145 |
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"transformer": {
|
| 146 |
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"enabled": false,
|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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|
| 154 |
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|
| 155 |
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"activation": "gelu",
|
| 156 |
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|
| 157 |
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"nn_parameter_for_timesteps": true
|
| 158 |
+
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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|
| 167 |
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],
|
| 168 |
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"rgb": [
|
| 169 |
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|
| 170 |
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|
| 171 |
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],
|
| 172 |
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|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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|
| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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},
|
| 189 |
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|
| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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|
| 194 |
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"backbone_class": "ResNet18Conv",
|
| 195 |
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|
| 196 |
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"pretrained": false,
|
| 197 |
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"input_coord_conv": false
|
| 198 |
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},
|
| 199 |
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"pool_class": "SpatialSoftmax",
|
| 200 |
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|
| 201 |
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"num_kp": 32,
|
| 202 |
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"learnable_temperature": false,
|
| 203 |
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"temperature": 1.0,
|
| 204 |
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|
| 205 |
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|
| 206 |
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}
|
| 207 |
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},
|
| 208 |
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"obs_randomizer_class": "CropRandomizer",
|
| 209 |
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|
| 210 |
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|
| 211 |
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|
| 212 |
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|
| 213 |
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"pos_enc": false
|
| 214 |
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|
| 215 |
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|
| 216 |
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"depth": {
|
| 217 |
+
"core_class": "VisualCore",
|
| 218 |
+
"core_kwargs": {},
|
| 219 |
+
"obs_randomizer_class": null,
|
| 220 |
+
"obs_randomizer_kwargs": {}
|
| 221 |
+
},
|
| 222 |
+
"scan": {
|
| 223 |
+
"core_class": "ScanCore",
|
| 224 |
+
"core_kwargs": {},
|
| 225 |
+
"obs_randomizer_class": null,
|
| 226 |
+
"obs_randomizer_kwargs": {}
|
| 227 |
+
}
|
| 228 |
+
}
|
| 229 |
+
},
|
| 230 |
+
"meta": {
|
| 231 |
+
"hp_base_config_file": "/tmp/core_train_configs/bc.json",
|
| 232 |
+
"hp_keys": [
|
| 233 |
+
"ds",
|
| 234 |
+
"seed"
|
| 235 |
+
],
|
| 236 |
+
"hp_values": [
|
| 237 |
+
"coffee_preparation_D1",
|
| 238 |
+
101
|
| 239 |
+
]
|
| 240 |
+
}
|
| 241 |
+
}
|
data_files/core_train_configs/bc_rnn_image_ds_hammer_cleanup_D0_seed_101.json
ADDED
|
@@ -0,0 +1,241 @@
|
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|
|
|
|
|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
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|
|
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|
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|
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|
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|
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|
|
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|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"algo_name": "bc",
|
| 3 |
+
"experiment": {
|
| 4 |
+
"name": "bc_rnn_image_ds_hammer_cleanup_D0_seed_101",
|
| 5 |
+
"validate": false,
|
| 6 |
+
"logging": {
|
| 7 |
+
"terminal_output_to_txt": true,
|
| 8 |
+
"log_tb": true,
|
| 9 |
+
"log_wandb": false,
|
| 10 |
+
"wandb_proj_name": "debug"
|
| 11 |
+
},
|
| 12 |
+
"save": {
|
| 13 |
+
"enabled": true,
|
| 14 |
+
"every_n_seconds": null,
|
| 15 |
+
"every_n_epochs": 20,
|
| 16 |
+
"epochs": [],
|
| 17 |
+
"on_best_validation": false,
|
| 18 |
+
"on_best_rollout_return": false,
|
| 19 |
+
"on_best_rollout_success_rate": true
|
| 20 |
+
},
|
| 21 |
+
"epoch_every_n_steps": 500,
|
| 22 |
+
"validation_epoch_every_n_steps": 50,
|
| 23 |
+
"env": null,
|
| 24 |
+
"additional_envs": null,
|
| 25 |
+
"render": false,
|
| 26 |
+
"render_video": true,
|
| 27 |
+
"keep_all_videos": false,
|
| 28 |
+
"video_skip": 5,
|
| 29 |
+
"rollout": {
|
| 30 |
+
"enabled": true,
|
| 31 |
+
"n": 50,
|
| 32 |
+
"horizon": 500,
|
| 33 |
+
"rate": 20,
|
| 34 |
+
"warmstart": 0,
|
| 35 |
+
"terminate_on_success": true
|
| 36 |
+
}
|
| 37 |
+
},
|
| 38 |
+
"train": {
|
| 39 |
+
"data": "/tmp/core_datasets/hammer_cleanup/demo_src_hammer_cleanup_task_D0/demo.hdf5",
|
| 40 |
+
"output_dir": "/tmp/core_training_results",
|
| 41 |
+
"num_data_workers": 4,
|
| 42 |
+
"hdf5_cache_mode": "low_dim",
|
| 43 |
+
"hdf5_use_swmr": true,
|
| 44 |
+
"hdf5_load_next_obs": false,
|
| 45 |
+
"hdf5_normalize_obs": false,
|
| 46 |
+
"hdf5_filter_key": null,
|
| 47 |
+
"hdf5_validation_filter_key": null,
|
| 48 |
+
"seq_length": 10,
|
| 49 |
+
"pad_seq_length": true,
|
| 50 |
+
"frame_stack": 1,
|
| 51 |
+
"pad_frame_stack": true,
|
| 52 |
+
"dataset_keys": [
|
| 53 |
+
"actions",
|
| 54 |
+
"rewards",
|
| 55 |
+
"dones"
|
| 56 |
+
],
|
| 57 |
+
"goal_mode": null,
|
| 58 |
+
"cuda": true,
|
| 59 |
+
"batch_size": 16,
|
| 60 |
+
"num_epochs": 600,
|
| 61 |
+
"seed": 101
|
| 62 |
+
},
|
| 63 |
+
"algo": {
|
| 64 |
+
"optim_params": {
|
| 65 |
+
"policy": {
|
| 66 |
+
"optimizer_type": "adam",
|
| 67 |
+
"learning_rate": {
|
| 68 |
+
"initial": 0.0001,
|
| 69 |
+
"decay_factor": 0.1,
|
| 70 |
+
"epoch_schedule": [],
|
| 71 |
+
"scheduler_type": "multistep"
|
| 72 |
+
},
|
| 73 |
+
"regularization": {
|
| 74 |
+
"L2": 0.0
|
| 75 |
+
}
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"loss": {
|
| 79 |
+
"l2_weight": 1.0,
|
| 80 |
+
"l1_weight": 0.0,
|
| 81 |
+
"cos_weight": 0.0
|
| 82 |
+
},
|
| 83 |
+
"actor_layer_dims": [],
|
| 84 |
+
"gaussian": {
|
| 85 |
+
"enabled": false,
|
| 86 |
+
"fixed_std": false,
|
| 87 |
+
"init_std": 0.1,
|
| 88 |
+
"min_std": 0.01,
|
| 89 |
+
"std_activation": "softplus",
|
| 90 |
+
"low_noise_eval": true
|
| 91 |
+
},
|
| 92 |
+
"gmm": {
|
| 93 |
+
"enabled": true,
|
| 94 |
+
"num_modes": 5,
|
| 95 |
+
"min_std": 0.0001,
|
| 96 |
+
"std_activation": "softplus",
|
| 97 |
+
"low_noise_eval": true
|
| 98 |
+
},
|
| 99 |
+
"vae": {
|
| 100 |
+
"enabled": false,
|
| 101 |
+
"latent_dim": 14,
|
| 102 |
+
"latent_clip": null,
|
| 103 |
+
"kl_weight": 1.0,
|
| 104 |
+
"decoder": {
|
| 105 |
+
"is_conditioned": true,
|
| 106 |
+
"reconstruction_sum_across_elements": false
|
| 107 |
+
},
|
| 108 |
+
"prior": {
|
| 109 |
+
"learn": false,
|
| 110 |
+
"is_conditioned": false,
|
| 111 |
+
"use_gmm": false,
|
| 112 |
+
"gmm_num_modes": 10,
|
| 113 |
+
"gmm_learn_weights": false,
|
| 114 |
+
"use_categorical": false,
|
| 115 |
+
"categorical_dim": 10,
|
| 116 |
+
"categorical_gumbel_softmax_hard": false,
|
| 117 |
+
"categorical_init_temp": 1.0,
|
| 118 |
+
"categorical_temp_anneal_step": 0.001,
|
| 119 |
+
"categorical_min_temp": 0.3
|
| 120 |
+
},
|
| 121 |
+
"encoder_layer_dims": [
|
| 122 |
+
300,
|
| 123 |
+
400
|
| 124 |
+
],
|
| 125 |
+
"decoder_layer_dims": [
|
| 126 |
+
300,
|
| 127 |
+
400
|
| 128 |
+
],
|
| 129 |
+
"prior_layer_dims": [
|
| 130 |
+
300,
|
| 131 |
+
400
|
| 132 |
+
]
|
| 133 |
+
},
|
| 134 |
+
"rnn": {
|
| 135 |
+
"enabled": true,
|
| 136 |
+
"horizon": 10,
|
| 137 |
+
"hidden_dim": 1000,
|
| 138 |
+
"rnn_type": "LSTM",
|
| 139 |
+
"num_layers": 2,
|
| 140 |
+
"open_loop": false,
|
| 141 |
+
"kwargs": {
|
| 142 |
+
"bidirectional": false
|
| 143 |
+
}
|
| 144 |
+
},
|
| 145 |
+
"transformer": {
|
| 146 |
+
"enabled": false,
|
| 147 |
+
"context_length": 10,
|
| 148 |
+
"embed_dim": 512,
|
| 149 |
+
"num_layers": 6,
|
| 150 |
+
"num_heads": 8,
|
| 151 |
+
"emb_dropout": 0.1,
|
| 152 |
+
"attn_dropout": 0.1,
|
| 153 |
+
"block_output_dropout": 0.1,
|
| 154 |
+
"sinusoidal_embedding": false,
|
| 155 |
+
"activation": "gelu",
|
| 156 |
+
"supervise_all_steps": false,
|
| 157 |
+
"nn_parameter_for_timesteps": true
|
| 158 |
+
}
|
| 159 |
+
},
|
| 160 |
+
"observation": {
|
| 161 |
+
"modalities": {
|
| 162 |
+
"obs": {
|
| 163 |
+
"low_dim": [
|
| 164 |
+
"robot0_eef_pos",
|
| 165 |
+
"robot0_eef_quat",
|
| 166 |
+
"robot0_gripper_qpos"
|
| 167 |
+
],
|
| 168 |
+
"rgb": [
|
| 169 |
+
"agentview_image",
|
| 170 |
+
"robot0_eye_in_hand_image"
|
| 171 |
+
],
|
| 172 |
+
"depth": [],
|
| 173 |
+
"scan": []
|
| 174 |
+
},
|
| 175 |
+
"goal": {
|
| 176 |
+
"low_dim": [],
|
| 177 |
+
"rgb": [],
|
| 178 |
+
"depth": [],
|
| 179 |
+
"scan": []
|
| 180 |
+
}
|
| 181 |
+
},
|
| 182 |
+
"encoder": {
|
| 183 |
+
"low_dim": {
|
| 184 |
+
"core_class": null,
|
| 185 |
+
"core_kwargs": {},
|
| 186 |
+
"obs_randomizer_class": null,
|
| 187 |
+
"obs_randomizer_kwargs": {}
|
| 188 |
+
},
|
| 189 |
+
"rgb": {
|
| 190 |
+
"core_class": "VisualCore",
|
| 191 |
+
"core_kwargs": {
|
| 192 |
+
"feature_dimension": 64,
|
| 193 |
+
"flatten": true,
|
| 194 |
+
"backbone_class": "ResNet18Conv",
|
| 195 |
+
"backbone_kwargs": {
|
| 196 |
+
"pretrained": false,
|
| 197 |
+
"input_coord_conv": false
|
| 198 |
+
},
|
| 199 |
+
"pool_class": "SpatialSoftmax",
|
| 200 |
+
"pool_kwargs": {
|
| 201 |
+
"num_kp": 32,
|
| 202 |
+
"learnable_temperature": false,
|
| 203 |
+
"temperature": 1.0,
|
| 204 |
+
"noise_std": 0.0,
|
| 205 |
+
"output_variance": false
|
| 206 |
+
}
|
| 207 |
+
},
|
| 208 |
+
"obs_randomizer_class": "CropRandomizer",
|
| 209 |
+
"obs_randomizer_kwargs": {
|
| 210 |
+
"crop_height": 76,
|
| 211 |
+
"crop_width": 76,
|
| 212 |
+
"num_crops": 1,
|
| 213 |
+
"pos_enc": false
|
| 214 |
+
}
|
| 215 |
+
},
|
| 216 |
+
"depth": {
|
| 217 |
+
"core_class": "VisualCore",
|
| 218 |
+
"core_kwargs": {},
|
| 219 |
+
"obs_randomizer_class": null,
|
| 220 |
+
"obs_randomizer_kwargs": {}
|
| 221 |
+
},
|
| 222 |
+
"scan": {
|
| 223 |
+
"core_class": "ScanCore",
|
| 224 |
+
"core_kwargs": {},
|
| 225 |
+
"obs_randomizer_class": null,
|
| 226 |
+
"obs_randomizer_kwargs": {}
|
| 227 |
+
}
|
| 228 |
+
}
|
| 229 |
+
},
|
| 230 |
+
"meta": {
|
| 231 |
+
"hp_base_config_file": "/tmp/core_train_configs/bc.json",
|
| 232 |
+
"hp_keys": [
|
| 233 |
+
"ds",
|
| 234 |
+
"seed"
|
| 235 |
+
],
|
| 236 |
+
"hp_values": [
|
| 237 |
+
"hammer_cleanup_D0",
|
| 238 |
+
101
|
| 239 |
+
]
|
| 240 |
+
}
|
| 241 |
+
}
|
data_files/core_train_configs/bc_rnn_image_ds_hammer_cleanup_D1_seed_101.json
ADDED
|
@@ -0,0 +1,241 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
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|
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|
|
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|
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|
|
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|
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|
|
|
| 1 |
+
{
|
| 2 |
+
"algo_name": "bc",
|
| 3 |
+
"experiment": {
|
| 4 |
+
"name": "bc_rnn_image_ds_hammer_cleanup_D1_seed_101",
|
| 5 |
+
"validate": false,
|
| 6 |
+
"logging": {
|
| 7 |
+
"terminal_output_to_txt": true,
|
| 8 |
+
"log_tb": true,
|
| 9 |
+
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|
| 10 |
+
"wandb_proj_name": "debug"
|
| 11 |
+
},
|
| 12 |
+
"save": {
|
| 13 |
+
"enabled": true,
|
| 14 |
+
"every_n_seconds": null,
|
| 15 |
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|
| 16 |
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|
| 17 |
+
"on_best_validation": false,
|
| 18 |
+
"on_best_rollout_return": false,
|
| 19 |
+
"on_best_rollout_success_rate": true
|
| 20 |
+
},
|
| 21 |
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"epoch_every_n_steps": 500,
|
| 22 |
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"validation_epoch_every_n_steps": 50,
|
| 23 |
+
"env": null,
|
| 24 |
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"additional_envs": null,
|
| 25 |
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"render": false,
|
| 26 |
+
"render_video": true,
|
| 27 |
+
"keep_all_videos": false,
|
| 28 |
+
"video_skip": 5,
|
| 29 |
+
"rollout": {
|
| 30 |
+
"enabled": true,
|
| 31 |
+
"n": 50,
|
| 32 |
+
"horizon": 500,
|
| 33 |
+
"rate": 20,
|
| 34 |
+
"warmstart": 0,
|
| 35 |
+
"terminate_on_success": true
|
| 36 |
+
}
|
| 37 |
+
},
|
| 38 |
+
"train": {
|
| 39 |
+
"data": "/tmp/core_datasets/hammer_cleanup/demo_src_hammer_cleanup_task_D1/demo.hdf5",
|
| 40 |
+
"output_dir": "/tmp/core_training_results",
|
| 41 |
+
"num_data_workers": 4,
|
| 42 |
+
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|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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"seq_length": 10,
|
| 49 |
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"pad_seq_length": true,
|
| 50 |
+
"frame_stack": 1,
|
| 51 |
+
"pad_frame_stack": true,
|
| 52 |
+
"dataset_keys": [
|
| 53 |
+
"actions",
|
| 54 |
+
"rewards",
|
| 55 |
+
"dones"
|
| 56 |
+
],
|
| 57 |
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"goal_mode": null,
|
| 58 |
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"cuda": true,
|
| 59 |
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"batch_size": 16,
|
| 60 |
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"num_epochs": 600,
|
| 61 |
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"seed": 101
|
| 62 |
+
},
|
| 63 |
+
"algo": {
|
| 64 |
+
"optim_params": {
|
| 65 |
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"policy": {
|
| 66 |
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"optimizer_type": "adam",
|
| 67 |
+
"learning_rate": {
|
| 68 |
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"initial": 0.0001,
|
| 69 |
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"decay_factor": 0.1,
|
| 70 |
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|
| 71 |
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"scheduler_type": "multistep"
|
| 72 |
+
},
|
| 73 |
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"regularization": {
|
| 74 |
+
"L2": 0.0
|
| 75 |
+
}
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"loss": {
|
| 79 |
+
"l2_weight": 1.0,
|
| 80 |
+
"l1_weight": 0.0,
|
| 81 |
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|
| 82 |
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},
|
| 83 |
+
"actor_layer_dims": [],
|
| 84 |
+
"gaussian": {
|
| 85 |
+
"enabled": false,
|
| 86 |
+
"fixed_std": false,
|
| 87 |
+
"init_std": 0.1,
|
| 88 |
+
"min_std": 0.01,
|
| 89 |
+
"std_activation": "softplus",
|
| 90 |
+
"low_noise_eval": true
|
| 91 |
+
},
|
| 92 |
+
"gmm": {
|
| 93 |
+
"enabled": true,
|
| 94 |
+
"num_modes": 5,
|
| 95 |
+
"min_std": 0.0001,
|
| 96 |
+
"std_activation": "softplus",
|
| 97 |
+
"low_noise_eval": true
|
| 98 |
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},
|
| 99 |
+
"vae": {
|
| 100 |
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"enabled": false,
|
| 101 |
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"latent_dim": 14,
|
| 102 |
+
"latent_clip": null,
|
| 103 |
+
"kl_weight": 1.0,
|
| 104 |
+
"decoder": {
|
| 105 |
+
"is_conditioned": true,
|
| 106 |
+
"reconstruction_sum_across_elements": false
|
| 107 |
+
},
|
| 108 |
+
"prior": {
|
| 109 |
+
"learn": false,
|
| 110 |
+
"is_conditioned": false,
|
| 111 |
+
"use_gmm": false,
|
| 112 |
+
"gmm_num_modes": 10,
|
| 113 |
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"gmm_learn_weights": false,
|
| 114 |
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"use_categorical": false,
|
| 115 |
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"categorical_dim": 10,
|
| 116 |
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"categorical_gumbel_softmax_hard": false,
|
| 117 |
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"categorical_init_temp": 1.0,
|
| 118 |
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"categorical_temp_anneal_step": 0.001,
|
| 119 |
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"categorical_min_temp": 0.3
|
| 120 |
+
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|
| 121 |
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"encoder_layer_dims": [
|
| 122 |
+
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|
| 123 |
+
400
|
| 124 |
+
],
|
| 125 |
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"decoder_layer_dims": [
|
| 126 |
+
300,
|
| 127 |
+
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|
| 128 |
+
],
|
| 129 |
+
"prior_layer_dims": [
|
| 130 |
+
300,
|
| 131 |
+
400
|
| 132 |
+
]
|
| 133 |
+
},
|
| 134 |
+
"rnn": {
|
| 135 |
+
"enabled": true,
|
| 136 |
+
"horizon": 10,
|
| 137 |
+
"hidden_dim": 1000,
|
| 138 |
+
"rnn_type": "LSTM",
|
| 139 |
+
"num_layers": 2,
|
| 140 |
+
"open_loop": false,
|
| 141 |
+
"kwargs": {
|
| 142 |
+
"bidirectional": false
|
| 143 |
+
}
|
| 144 |
+
},
|
| 145 |
+
"transformer": {
|
| 146 |
+
"enabled": false,
|
| 147 |
+
"context_length": 10,
|
| 148 |
+
"embed_dim": 512,
|
| 149 |
+
"num_layers": 6,
|
| 150 |
+
"num_heads": 8,
|
| 151 |
+
"emb_dropout": 0.1,
|
| 152 |
+
"attn_dropout": 0.1,
|
| 153 |
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"block_output_dropout": 0.1,
|
| 154 |
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"sinusoidal_embedding": false,
|
| 155 |
+
"activation": "gelu",
|
| 156 |
+
"supervise_all_steps": false,
|
| 157 |
+
"nn_parameter_for_timesteps": true
|
| 158 |
+
}
|
| 159 |
+
},
|
| 160 |
+
"observation": {
|
| 161 |
+
"modalities": {
|
| 162 |
+
"obs": {
|
| 163 |
+
"low_dim": [
|
| 164 |
+
"robot0_eef_pos",
|
| 165 |
+
"robot0_eef_quat",
|
| 166 |
+
"robot0_gripper_qpos"
|
| 167 |
+
],
|
| 168 |
+
"rgb": [
|
| 169 |
+
"agentview_image",
|
| 170 |
+
"robot0_eye_in_hand_image"
|
| 171 |
+
],
|
| 172 |
+
"depth": [],
|
| 173 |
+
"scan": []
|
| 174 |
+
},
|
| 175 |
+
"goal": {
|
| 176 |
+
"low_dim": [],
|
| 177 |
+
"rgb": [],
|
| 178 |
+
"depth": [],
|
| 179 |
+
"scan": []
|
| 180 |
+
}
|
| 181 |
+
},
|
| 182 |
+
"encoder": {
|
| 183 |
+
"low_dim": {
|
| 184 |
+
"core_class": null,
|
| 185 |
+
"core_kwargs": {},
|
| 186 |
+
"obs_randomizer_class": null,
|
| 187 |
+
"obs_randomizer_kwargs": {}
|
| 188 |
+
},
|
| 189 |
+
"rgb": {
|
| 190 |
+
"core_class": "VisualCore",
|
| 191 |
+
"core_kwargs": {
|
| 192 |
+
"feature_dimension": 64,
|
| 193 |
+
"flatten": true,
|
| 194 |
+
"backbone_class": "ResNet18Conv",
|
| 195 |
+
"backbone_kwargs": {
|
| 196 |
+
"pretrained": false,
|
| 197 |
+
"input_coord_conv": false
|
| 198 |
+
},
|
| 199 |
+
"pool_class": "SpatialSoftmax",
|
| 200 |
+
"pool_kwargs": {
|
| 201 |
+
"num_kp": 32,
|
| 202 |
+
"learnable_temperature": false,
|
| 203 |
+
"temperature": 1.0,
|
| 204 |
+
"noise_std": 0.0,
|
| 205 |
+
"output_variance": false
|
| 206 |
+
}
|
| 207 |
+
},
|
| 208 |
+
"obs_randomizer_class": "CropRandomizer",
|
| 209 |
+
"obs_randomizer_kwargs": {
|
| 210 |
+
"crop_height": 76,
|
| 211 |
+
"crop_width": 76,
|
| 212 |
+
"num_crops": 1,
|
| 213 |
+
"pos_enc": false
|
| 214 |
+
}
|
| 215 |
+
},
|
| 216 |
+
"depth": {
|
| 217 |
+
"core_class": "VisualCore",
|
| 218 |
+
"core_kwargs": {},
|
| 219 |
+
"obs_randomizer_class": null,
|
| 220 |
+
"obs_randomizer_kwargs": {}
|
| 221 |
+
},
|
| 222 |
+
"scan": {
|
| 223 |
+
"core_class": "ScanCore",
|
| 224 |
+
"core_kwargs": {},
|
| 225 |
+
"obs_randomizer_class": null,
|
| 226 |
+
"obs_randomizer_kwargs": {}
|
| 227 |
+
}
|
| 228 |
+
}
|
| 229 |
+
},
|
| 230 |
+
"meta": {
|
| 231 |
+
"hp_base_config_file": "/tmp/core_train_configs/bc.json",
|
| 232 |
+
"hp_keys": [
|
| 233 |
+
"ds",
|
| 234 |
+
"seed"
|
| 235 |
+
],
|
| 236 |
+
"hp_values": [
|
| 237 |
+
"hammer_cleanup_D1",
|
| 238 |
+
101
|
| 239 |
+
]
|
| 240 |
+
}
|
| 241 |
+
}
|
data_files/core_train_configs/bc_rnn_image_ds_kitchen_D0_seed_101.json
ADDED
|
@@ -0,0 +1,241 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
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|
|
|
|
|
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|
|
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|
|
|
|
|
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|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
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|
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|
|
|
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|
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|
|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
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{
|
| 2 |
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|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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| 44 |
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| 45 |
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| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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|
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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|
| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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| 99 |
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|
| 100 |
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|
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
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|
| 117 |
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|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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| 154 |
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|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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|
| 167 |
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|
| 168 |
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|
| 169 |
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"agentview_image",
|
| 170 |
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|
| 171 |
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|
| 172 |
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|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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|
| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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|
| 189 |
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|
| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
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|
| 196 |
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|
| 197 |
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|
| 198 |
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|
| 199 |
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"pool_class": "SpatialSoftmax",
|
| 200 |
+
"pool_kwargs": {
|
| 201 |
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|
| 202 |
+
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|
| 203 |
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|
| 204 |
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|
| 205 |
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|
| 206 |
+
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|
| 207 |
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|
| 208 |
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|
| 209 |
+
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|
| 210 |
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|
| 211 |
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|
| 212 |
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|
| 213 |
+
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|
| 214 |
+
}
|
| 215 |
+
},
|
| 216 |
+
"depth": {
|
| 217 |
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|
| 218 |
+
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|
| 219 |
+
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|
| 220 |
+
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|
| 221 |
+
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|
| 222 |
+
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|
| 223 |
+
"core_class": "ScanCore",
|
| 224 |
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|
| 225 |
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|
| 226 |
+
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|
| 227 |
+
}
|
| 228 |
+
}
|
| 229 |
+
},
|
| 230 |
+
"meta": {
|
| 231 |
+
"hp_base_config_file": "/tmp/core_train_configs/bc.json",
|
| 232 |
+
"hp_keys": [
|
| 233 |
+
"ds",
|
| 234 |
+
"seed"
|
| 235 |
+
],
|
| 236 |
+
"hp_values": [
|
| 237 |
+
"kitchen_D0",
|
| 238 |
+
101
|
| 239 |
+
]
|
| 240 |
+
}
|
| 241 |
+
}
|
data_files/core_train_configs/bc_rnn_image_ds_kitchen_D1_seed_101.json
ADDED
|
@@ -0,0 +1,241 @@
|
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|
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|
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|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
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|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"algo_name": "bc",
|
| 3 |
+
"experiment": {
|
| 4 |
+
"name": "bc_rnn_image_ds_kitchen_D1_seed_101",
|
| 5 |
+
"validate": false,
|
| 6 |
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"logging": {
|
| 7 |
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"terminal_output_to_txt": true,
|
| 8 |
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"log_tb": true,
|
| 9 |
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"log_wandb": false,
|
| 10 |
+
"wandb_proj_name": "debug"
|
| 11 |
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},
|
| 12 |
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"save": {
|
| 13 |
+
"enabled": true,
|
| 14 |
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"every_n_seconds": null,
|
| 15 |
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"every_n_epochs": 20,
|
| 16 |
+
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|
| 17 |
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"on_best_validation": false,
|
| 18 |
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"on_best_rollout_return": false,
|
| 19 |
+
"on_best_rollout_success_rate": true
|
| 20 |
+
},
|
| 21 |
+
"epoch_every_n_steps": 500,
|
| 22 |
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"validation_epoch_every_n_steps": 50,
|
| 23 |
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"env": null,
|
| 24 |
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|
| 25 |
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"render": false,
|
| 26 |
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"render_video": true,
|
| 27 |
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"keep_all_videos": false,
|
| 28 |
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"video_skip": 5,
|
| 29 |
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"rollout": {
|
| 30 |
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"enabled": true,
|
| 31 |
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"n": 50,
|
| 32 |
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"horizon": 800,
|
| 33 |
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"rate": 20,
|
| 34 |
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"warmstart": 0,
|
| 35 |
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"terminate_on_success": true
|
| 36 |
+
}
|
| 37 |
+
},
|
| 38 |
+
"train": {
|
| 39 |
+
"data": "/tmp/core_datasets/kitchen/demo_src_kitchen_task_D1/demo.hdf5",
|
| 40 |
+
"output_dir": "/tmp/core_training_results",
|
| 41 |
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"num_data_workers": 4,
|
| 42 |
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"hdf5_cache_mode": "low_dim",
|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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"pad_seq_length": true,
|
| 50 |
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| 134 |
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|
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|
| 136 |
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|
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|
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| 141 |
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|
| 142 |
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|
| 143 |
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|
| 144 |
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| 145 |
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| 146 |
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| 158 |
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| 159 |
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| 160 |
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| 161 |
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|
| 162 |
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| 163 |
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|
| 164 |
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| 165 |
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| 166 |
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|
| 167 |
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| 168 |
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|
| 169 |
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|
| 170 |
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|
| 171 |
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| 172 |
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|
| 173 |
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|
| 174 |
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| 175 |
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| 176 |
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| 177 |
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| 178 |
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| 179 |
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| 180 |
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| 181 |
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| 182 |
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| 183 |
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| 184 |
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| 185 |
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| 186 |
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| 187 |
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| 188 |
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| 189 |
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| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
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|
| 196 |
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|
| 197 |
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|
| 198 |
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|
| 199 |
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|
| 200 |
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|
| 201 |
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|
| 202 |
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|
| 203 |
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|
| 204 |
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|
| 205 |
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|
| 206 |
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|
| 207 |
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|
| 208 |
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|
| 209 |
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|
| 210 |
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|
| 211 |
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|
| 212 |
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|
| 213 |
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|
| 214 |
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|
| 215 |
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|
| 216 |
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"depth": {
|
| 217 |
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|
| 218 |
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|
| 219 |
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|
| 220 |
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|
| 221 |
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|
| 222 |
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|
| 223 |
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|
| 224 |
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|
| 225 |
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|
| 226 |
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|
| 227 |
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|
| 228 |
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|
| 229 |
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|
| 230 |
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"meta": {
|
| 231 |
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"hp_base_config_file": "/tmp/core_train_configs/bc.json",
|
| 232 |
+
"hp_keys": [
|
| 233 |
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"ds",
|
| 234 |
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|
| 235 |
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|
| 236 |
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"hp_values": [
|
| 237 |
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|
| 238 |
+
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|
| 239 |
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]
|
| 240 |
+
}
|
| 241 |
+
}
|
data_files/core_train_configs/bc_rnn_image_ds_mug_cleanup_D0_seed_101.json
ADDED
|
@@ -0,0 +1,241 @@
|
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|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
|
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|
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|
|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
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"algo_name": "bc",
|
| 3 |
+
"experiment": {
|
| 4 |
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"name": "bc_rnn_image_ds_mug_cleanup_D0_seed_101",
|
| 5 |
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"validate": false,
|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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"wandb_proj_name": "debug"
|
| 11 |
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},
|
| 12 |
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|
| 13 |
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"enabled": true,
|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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},
|
| 21 |
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"epoch_every_n_steps": 500,
|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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"video_skip": 5,
|
| 29 |
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"rollout": {
|
| 30 |
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"enabled": true,
|
| 31 |
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"n": 50,
|
| 32 |
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|
| 33 |
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"rate": 20,
|
| 34 |
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"warmstart": 0,
|
| 35 |
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"terminate_on_success": true
|
| 36 |
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}
|
| 37 |
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},
|
| 38 |
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"train": {
|
| 39 |
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"data": "/tmp/core_datasets/mug_cleanup/demo_src_mug_cleanup_task_D0/demo.hdf5",
|
| 40 |
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"output_dir": "/tmp/core_training_results",
|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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| 45 |
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| 46 |
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| 47 |
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| 48 |
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| 49 |
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| 50 |
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| 51 |
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| 52 |
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| 53 |
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| 54 |
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| 55 |
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| 56 |
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| 58 |
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| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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| 78 |
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| 79 |
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| 80 |
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| 81 |
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| 82 |
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| 83 |
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|
| 84 |
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| 85 |
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| 86 |
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|
| 87 |
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| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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"gmm": {
|
| 93 |
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|
| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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"decoder": {
|
| 105 |
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|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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"categorical_gumbel_softmax_hard": false,
|
| 117 |
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|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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"encoder_layer_dims": [
|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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"decoder_layer_dims": [
|
| 126 |
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|
| 127 |
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400
|
| 128 |
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|
| 129 |
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"prior_layer_dims": [
|
| 130 |
+
300,
|
| 131 |
+
400
|
| 132 |
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|
| 133 |
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|
| 134 |
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"rnn": {
|
| 135 |
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"enabled": true,
|
| 136 |
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"horizon": 10,
|
| 137 |
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"hidden_dim": 1000,
|
| 138 |
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"rnn_type": "LSTM",
|
| 139 |
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|
| 140 |
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"open_loop": false,
|
| 141 |
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"kwargs": {
|
| 142 |
+
"bidirectional": false
|
| 143 |
+
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|
| 144 |
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|
| 145 |
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"transformer": {
|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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"num_heads": 8,
|
| 151 |
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"emb_dropout": 0.1,
|
| 152 |
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|
| 153 |
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|
| 154 |
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"sinusoidal_embedding": false,
|
| 155 |
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"activation": "gelu",
|
| 156 |
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|
| 157 |
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"nn_parameter_for_timesteps": true
|
| 158 |
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|
| 159 |
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|
| 160 |
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"observation": {
|
| 161 |
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"modalities": {
|
| 162 |
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"obs": {
|
| 163 |
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"low_dim": [
|
| 164 |
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|
| 165 |
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|
| 166 |
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"robot0_gripper_qpos"
|
| 167 |
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],
|
| 168 |
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"rgb": [
|
| 169 |
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"agentview_image",
|
| 170 |
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"robot0_eye_in_hand_image"
|
| 171 |
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],
|
| 172 |
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"depth": [],
|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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|
| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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"encoder": {
|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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|
| 189 |
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"rgb": {
|
| 190 |
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"core_class": "VisualCore",
|
| 191 |
+
"core_kwargs": {
|
| 192 |
+
"feature_dimension": 64,
|
| 193 |
+
"flatten": true,
|
| 194 |
+
"backbone_class": "ResNet18Conv",
|
| 195 |
+
"backbone_kwargs": {
|
| 196 |
+
"pretrained": false,
|
| 197 |
+
"input_coord_conv": false
|
| 198 |
+
},
|
| 199 |
+
"pool_class": "SpatialSoftmax",
|
| 200 |
+
"pool_kwargs": {
|
| 201 |
+
"num_kp": 32,
|
| 202 |
+
"learnable_temperature": false,
|
| 203 |
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"temperature": 1.0,
|
| 204 |
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"noise_std": 0.0,
|
| 205 |
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"output_variance": false
|
| 206 |
+
}
|
| 207 |
+
},
|
| 208 |
+
"obs_randomizer_class": "CropRandomizer",
|
| 209 |
+
"obs_randomizer_kwargs": {
|
| 210 |
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"crop_height": 76,
|
| 211 |
+
"crop_width": 76,
|
| 212 |
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"num_crops": 1,
|
| 213 |
+
"pos_enc": false
|
| 214 |
+
}
|
| 215 |
+
},
|
| 216 |
+
"depth": {
|
| 217 |
+
"core_class": "VisualCore",
|
| 218 |
+
"core_kwargs": {},
|
| 219 |
+
"obs_randomizer_class": null,
|
| 220 |
+
"obs_randomizer_kwargs": {}
|
| 221 |
+
},
|
| 222 |
+
"scan": {
|
| 223 |
+
"core_class": "ScanCore",
|
| 224 |
+
"core_kwargs": {},
|
| 225 |
+
"obs_randomizer_class": null,
|
| 226 |
+
"obs_randomizer_kwargs": {}
|
| 227 |
+
}
|
| 228 |
+
}
|
| 229 |
+
},
|
| 230 |
+
"meta": {
|
| 231 |
+
"hp_base_config_file": "/tmp/core_train_configs/bc.json",
|
| 232 |
+
"hp_keys": [
|
| 233 |
+
"ds",
|
| 234 |
+
"seed"
|
| 235 |
+
],
|
| 236 |
+
"hp_values": [
|
| 237 |
+
"mug_cleanup_D0",
|
| 238 |
+
101
|
| 239 |
+
]
|
| 240 |
+
}
|
| 241 |
+
}
|
data_files/core_train_configs/bc_rnn_image_ds_mug_cleanup_D1_seed_101.json
ADDED
|
@@ -0,0 +1,241 @@
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|
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|
|
|
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|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"algo_name": "bc",
|
| 3 |
+
"experiment": {
|
| 4 |
+
"name": "bc_rnn_image_ds_mug_cleanup_D1_seed_101",
|
| 5 |
+
"validate": false,
|
| 6 |
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"logging": {
|
| 7 |
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"terminal_output_to_txt": true,
|
| 8 |
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"log_tb": true,
|
| 9 |
+
"log_wandb": false,
|
| 10 |
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"wandb_proj_name": "debug"
|
| 11 |
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},
|
| 12 |
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"save": {
|
| 13 |
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"enabled": true,
|
| 14 |
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"every_n_seconds": null,
|
| 15 |
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|
| 16 |
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|
| 17 |
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"on_best_validation": false,
|
| 18 |
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"on_best_rollout_return": false,
|
| 19 |
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"on_best_rollout_success_rate": true
|
| 20 |
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},
|
| 21 |
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"epoch_every_n_steps": 500,
|
| 22 |
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"validation_epoch_every_n_steps": 50,
|
| 23 |
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"env": null,
|
| 24 |
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"additional_envs": null,
|
| 25 |
+
"render": false,
|
| 26 |
+
"render_video": true,
|
| 27 |
+
"keep_all_videos": false,
|
| 28 |
+
"video_skip": 5,
|
| 29 |
+
"rollout": {
|
| 30 |
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"enabled": true,
|
| 31 |
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"n": 50,
|
| 32 |
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"horizon": 500,
|
| 33 |
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"rate": 20,
|
| 34 |
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"warmstart": 0,
|
| 35 |
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"terminate_on_success": true
|
| 36 |
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}
|
| 37 |
+
},
|
| 38 |
+
"train": {
|
| 39 |
+
"data": "/tmp/core_datasets/mug_cleanup/demo_src_mug_cleanup_task_D1/demo.hdf5",
|
| 40 |
+
"output_dir": "/tmp/core_training_results",
|
| 41 |
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"num_data_workers": 4,
|
| 42 |
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"hdf5_cache_mode": "low_dim",
|
| 43 |
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"hdf5_use_swmr": true,
|
| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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"seq_length": 10,
|
| 49 |
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"pad_seq_length": true,
|
| 50 |
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"frame_stack": 1,
|
| 51 |
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"pad_frame_stack": true,
|
| 52 |
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"dataset_keys": [
|
| 53 |
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"actions",
|
| 54 |
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|
| 55 |
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|
| 56 |
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],
|
| 57 |
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"goal_mode": null,
|
| 58 |
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"cuda": true,
|
| 59 |
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"batch_size": 16,
|
| 60 |
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"num_epochs": 600,
|
| 61 |
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"seed": 101
|
| 62 |
+
},
|
| 63 |
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"algo": {
|
| 64 |
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"optim_params": {
|
| 65 |
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"policy": {
|
| 66 |
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"optimizer_type": "adam",
|
| 67 |
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"learning_rate": {
|
| 68 |
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"initial": 0.0001,
|
| 69 |
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|
| 70 |
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"epoch_schedule": [],
|
| 71 |
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"scheduler_type": "multistep"
|
| 72 |
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},
|
| 73 |
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"regularization": {
|
| 74 |
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"L2": 0.0
|
| 75 |
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}
|
| 76 |
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}
|
| 77 |
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},
|
| 78 |
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"loss": {
|
| 79 |
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"l2_weight": 1.0,
|
| 80 |
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"l1_weight": 0.0,
|
| 81 |
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"cos_weight": 0.0
|
| 82 |
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|
| 83 |
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"actor_layer_dims": [],
|
| 84 |
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"gaussian": {
|
| 85 |
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"enabled": false,
|
| 86 |
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"fixed_std": false,
|
| 87 |
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"init_std": 0.1,
|
| 88 |
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"min_std": 0.01,
|
| 89 |
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"std_activation": "softplus",
|
| 90 |
+
"low_noise_eval": true
|
| 91 |
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},
|
| 92 |
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"gmm": {
|
| 93 |
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"enabled": true,
|
| 94 |
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"num_modes": 5,
|
| 95 |
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"min_std": 0.0001,
|
| 96 |
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"std_activation": "softplus",
|
| 97 |
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"low_noise_eval": true
|
| 98 |
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|
| 99 |
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"vae": {
|
| 100 |
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"enabled": false,
|
| 101 |
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|
| 102 |
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"latent_clip": null,
|
| 103 |
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"kl_weight": 1.0,
|
| 104 |
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"decoder": {
|
| 105 |
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"is_conditioned": true,
|
| 106 |
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"reconstruction_sum_across_elements": false
|
| 107 |
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|
| 108 |
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"prior": {
|
| 109 |
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"learn": false,
|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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"gmm_learn_weights": false,
|
| 114 |
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|
| 115 |
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|
| 116 |
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"categorical_gumbel_softmax_hard": false,
|
| 117 |
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|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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"rnn": {
|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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"kwargs": {
|
| 142 |
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|
| 143 |
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}
|
| 144 |
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},
|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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|
| 154 |
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|
| 155 |
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"activation": "gelu",
|
| 156 |
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|
| 157 |
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"nn_parameter_for_timesteps": true
|
| 158 |
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}
|
| 159 |
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},
|
| 160 |
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|
| 161 |
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|
| 162 |
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"obs": {
|
| 163 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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|
| 167 |
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],
|
| 168 |
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"rgb": [
|
| 169 |
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"agentview_image",
|
| 170 |
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|
| 171 |
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],
|
| 172 |
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"depth": [],
|
| 173 |
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"scan": []
|
| 174 |
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},
|
| 175 |
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"goal": {
|
| 176 |
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|
| 177 |
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"rgb": [],
|
| 178 |
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"depth": [],
|
| 179 |
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"scan": []
|
| 180 |
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}
|
| 181 |
+
},
|
| 182 |
+
"encoder": {
|
| 183 |
+
"low_dim": {
|
| 184 |
+
"core_class": null,
|
| 185 |
+
"core_kwargs": {},
|
| 186 |
+
"obs_randomizer_class": null,
|
| 187 |
+
"obs_randomizer_kwargs": {}
|
| 188 |
+
},
|
| 189 |
+
"rgb": {
|
| 190 |
+
"core_class": "VisualCore",
|
| 191 |
+
"core_kwargs": {
|
| 192 |
+
"feature_dimension": 64,
|
| 193 |
+
"flatten": true,
|
| 194 |
+
"backbone_class": "ResNet18Conv",
|
| 195 |
+
"backbone_kwargs": {
|
| 196 |
+
"pretrained": false,
|
| 197 |
+
"input_coord_conv": false
|
| 198 |
+
},
|
| 199 |
+
"pool_class": "SpatialSoftmax",
|
| 200 |
+
"pool_kwargs": {
|
| 201 |
+
"num_kp": 32,
|
| 202 |
+
"learnable_temperature": false,
|
| 203 |
+
"temperature": 1.0,
|
| 204 |
+
"noise_std": 0.0,
|
| 205 |
+
"output_variance": false
|
| 206 |
+
}
|
| 207 |
+
},
|
| 208 |
+
"obs_randomizer_class": "CropRandomizer",
|
| 209 |
+
"obs_randomizer_kwargs": {
|
| 210 |
+
"crop_height": 76,
|
| 211 |
+
"crop_width": 76,
|
| 212 |
+
"num_crops": 1,
|
| 213 |
+
"pos_enc": false
|
| 214 |
+
}
|
| 215 |
+
},
|
| 216 |
+
"depth": {
|
| 217 |
+
"core_class": "VisualCore",
|
| 218 |
+
"core_kwargs": {},
|
| 219 |
+
"obs_randomizer_class": null,
|
| 220 |
+
"obs_randomizer_kwargs": {}
|
| 221 |
+
},
|
| 222 |
+
"scan": {
|
| 223 |
+
"core_class": "ScanCore",
|
| 224 |
+
"core_kwargs": {},
|
| 225 |
+
"obs_randomizer_class": null,
|
| 226 |
+
"obs_randomizer_kwargs": {}
|
| 227 |
+
}
|
| 228 |
+
}
|
| 229 |
+
},
|
| 230 |
+
"meta": {
|
| 231 |
+
"hp_base_config_file": "/tmp/core_train_configs/bc.json",
|
| 232 |
+
"hp_keys": [
|
| 233 |
+
"ds",
|
| 234 |
+
"seed"
|
| 235 |
+
],
|
| 236 |
+
"hp_values": [
|
| 237 |
+
"mug_cleanup_D1",
|
| 238 |
+
101
|
| 239 |
+
]
|
| 240 |
+
}
|
| 241 |
+
}
|
data_files/core_train_configs/bc_rnn_image_ds_mug_cleanup_O1_seed_101.json
ADDED
|
@@ -0,0 +1,241 @@
|
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|
|
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|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"algo_name": "bc",
|
| 3 |
+
"experiment": {
|
| 4 |
+
"name": "bc_rnn_image_ds_mug_cleanup_O1_seed_101",
|
| 5 |
+
"validate": false,
|
| 6 |
+
"logging": {
|
| 7 |
+
"terminal_output_to_txt": true,
|
| 8 |
+
"log_tb": true,
|
| 9 |
+
"log_wandb": false,
|
| 10 |
+
"wandb_proj_name": "debug"
|
| 11 |
+
},
|
| 12 |
+
"save": {
|
| 13 |
+
"enabled": true,
|
| 14 |
+
"every_n_seconds": null,
|
| 15 |
+
"every_n_epochs": 20,
|
| 16 |
+
"epochs": [],
|
| 17 |
+
"on_best_validation": false,
|
| 18 |
+
"on_best_rollout_return": false,
|
| 19 |
+
"on_best_rollout_success_rate": true
|
| 20 |
+
},
|
| 21 |
+
"epoch_every_n_steps": 500,
|
| 22 |
+
"validation_epoch_every_n_steps": 50,
|
| 23 |
+
"env": null,
|
| 24 |
+
"additional_envs": null,
|
| 25 |
+
"render": false,
|
| 26 |
+
"render_video": true,
|
| 27 |
+
"keep_all_videos": false,
|
| 28 |
+
"video_skip": 5,
|
| 29 |
+
"rollout": {
|
| 30 |
+
"enabled": true,
|
| 31 |
+
"n": 50,
|
| 32 |
+
"horizon": 500,
|
| 33 |
+
"rate": 20,
|
| 34 |
+
"warmstart": 0,
|
| 35 |
+
"terminate_on_success": true
|
| 36 |
+
}
|
| 37 |
+
},
|
| 38 |
+
"train": {
|
| 39 |
+
"data": "/tmp/core_datasets/mug_cleanup/demo_src_mug_cleanup_task_O1/demo.hdf5",
|
| 40 |
+
"output_dir": "/tmp/core_training_results",
|
| 41 |
+
"num_data_workers": 4,
|
| 42 |
+
"hdf5_cache_mode": "low_dim",
|
| 43 |
+
"hdf5_use_swmr": true,
|
| 44 |
+
"hdf5_load_next_obs": false,
|
| 45 |
+
"hdf5_normalize_obs": false,
|
| 46 |
+
"hdf5_filter_key": null,
|
| 47 |
+
"hdf5_validation_filter_key": null,
|
| 48 |
+
"seq_length": 10,
|
| 49 |
+
"pad_seq_length": true,
|
| 50 |
+
"frame_stack": 1,
|
| 51 |
+
"pad_frame_stack": true,
|
| 52 |
+
"dataset_keys": [
|
| 53 |
+
"actions",
|
| 54 |
+
"rewards",
|
| 55 |
+
"dones"
|
| 56 |
+
],
|
| 57 |
+
"goal_mode": null,
|
| 58 |
+
"cuda": true,
|
| 59 |
+
"batch_size": 16,
|
| 60 |
+
"num_epochs": 600,
|
| 61 |
+
"seed": 101
|
| 62 |
+
},
|
| 63 |
+
"algo": {
|
| 64 |
+
"optim_params": {
|
| 65 |
+
"policy": {
|
| 66 |
+
"optimizer_type": "adam",
|
| 67 |
+
"learning_rate": {
|
| 68 |
+
"initial": 0.0001,
|
| 69 |
+
"decay_factor": 0.1,
|
| 70 |
+
"epoch_schedule": [],
|
| 71 |
+
"scheduler_type": "multistep"
|
| 72 |
+
},
|
| 73 |
+
"regularization": {
|
| 74 |
+
"L2": 0.0
|
| 75 |
+
}
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"loss": {
|
| 79 |
+
"l2_weight": 1.0,
|
| 80 |
+
"l1_weight": 0.0,
|
| 81 |
+
"cos_weight": 0.0
|
| 82 |
+
},
|
| 83 |
+
"actor_layer_dims": [],
|
| 84 |
+
"gaussian": {
|
| 85 |
+
"enabled": false,
|
| 86 |
+
"fixed_std": false,
|
| 87 |
+
"init_std": 0.1,
|
| 88 |
+
"min_std": 0.01,
|
| 89 |
+
"std_activation": "softplus",
|
| 90 |
+
"low_noise_eval": true
|
| 91 |
+
},
|
| 92 |
+
"gmm": {
|
| 93 |
+
"enabled": true,
|
| 94 |
+
"num_modes": 5,
|
| 95 |
+
"min_std": 0.0001,
|
| 96 |
+
"std_activation": "softplus",
|
| 97 |
+
"low_noise_eval": true
|
| 98 |
+
},
|
| 99 |
+
"vae": {
|
| 100 |
+
"enabled": false,
|
| 101 |
+
"latent_dim": 14,
|
| 102 |
+
"latent_clip": null,
|
| 103 |
+
"kl_weight": 1.0,
|
| 104 |
+
"decoder": {
|
| 105 |
+
"is_conditioned": true,
|
| 106 |
+
"reconstruction_sum_across_elements": false
|
| 107 |
+
},
|
| 108 |
+
"prior": {
|
| 109 |
+
"learn": false,
|
| 110 |
+
"is_conditioned": false,
|
| 111 |
+
"use_gmm": false,
|
| 112 |
+
"gmm_num_modes": 10,
|
| 113 |
+
"gmm_learn_weights": false,
|
| 114 |
+
"use_categorical": false,
|
| 115 |
+
"categorical_dim": 10,
|
| 116 |
+
"categorical_gumbel_softmax_hard": false,
|
| 117 |
+
"categorical_init_temp": 1.0,
|
| 118 |
+
"categorical_temp_anneal_step": 0.001,
|
| 119 |
+
"categorical_min_temp": 0.3
|
| 120 |
+
},
|
| 121 |
+
"encoder_layer_dims": [
|
| 122 |
+
300,
|
| 123 |
+
400
|
| 124 |
+
],
|
| 125 |
+
"decoder_layer_dims": [
|
| 126 |
+
300,
|
| 127 |
+
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|
| 128 |
+
],
|
| 129 |
+
"prior_layer_dims": [
|
| 130 |
+
300,
|
| 131 |
+
400
|
| 132 |
+
]
|
| 133 |
+
},
|
| 134 |
+
"rnn": {
|
| 135 |
+
"enabled": true,
|
| 136 |
+
"horizon": 10,
|
| 137 |
+
"hidden_dim": 1000,
|
| 138 |
+
"rnn_type": "LSTM",
|
| 139 |
+
"num_layers": 2,
|
| 140 |
+
"open_loop": false,
|
| 141 |
+
"kwargs": {
|
| 142 |
+
"bidirectional": false
|
| 143 |
+
}
|
| 144 |
+
},
|
| 145 |
+
"transformer": {
|
| 146 |
+
"enabled": false,
|
| 147 |
+
"context_length": 10,
|
| 148 |
+
"embed_dim": 512,
|
| 149 |
+
"num_layers": 6,
|
| 150 |
+
"num_heads": 8,
|
| 151 |
+
"emb_dropout": 0.1,
|
| 152 |
+
"attn_dropout": 0.1,
|
| 153 |
+
"block_output_dropout": 0.1,
|
| 154 |
+
"sinusoidal_embedding": false,
|
| 155 |
+
"activation": "gelu",
|
| 156 |
+
"supervise_all_steps": false,
|
| 157 |
+
"nn_parameter_for_timesteps": true
|
| 158 |
+
}
|
| 159 |
+
},
|
| 160 |
+
"observation": {
|
| 161 |
+
"modalities": {
|
| 162 |
+
"obs": {
|
| 163 |
+
"low_dim": [
|
| 164 |
+
"robot0_eef_pos",
|
| 165 |
+
"robot0_eef_quat",
|
| 166 |
+
"robot0_gripper_qpos"
|
| 167 |
+
],
|
| 168 |
+
"rgb": [
|
| 169 |
+
"agentview_image",
|
| 170 |
+
"robot0_eye_in_hand_image"
|
| 171 |
+
],
|
| 172 |
+
"depth": [],
|
| 173 |
+
"scan": []
|
| 174 |
+
},
|
| 175 |
+
"goal": {
|
| 176 |
+
"low_dim": [],
|
| 177 |
+
"rgb": [],
|
| 178 |
+
"depth": [],
|
| 179 |
+
"scan": []
|
| 180 |
+
}
|
| 181 |
+
},
|
| 182 |
+
"encoder": {
|
| 183 |
+
"low_dim": {
|
| 184 |
+
"core_class": null,
|
| 185 |
+
"core_kwargs": {},
|
| 186 |
+
"obs_randomizer_class": null,
|
| 187 |
+
"obs_randomizer_kwargs": {}
|
| 188 |
+
},
|
| 189 |
+
"rgb": {
|
| 190 |
+
"core_class": "VisualCore",
|
| 191 |
+
"core_kwargs": {
|
| 192 |
+
"feature_dimension": 64,
|
| 193 |
+
"flatten": true,
|
| 194 |
+
"backbone_class": "ResNet18Conv",
|
| 195 |
+
"backbone_kwargs": {
|
| 196 |
+
"pretrained": false,
|
| 197 |
+
"input_coord_conv": false
|
| 198 |
+
},
|
| 199 |
+
"pool_class": "SpatialSoftmax",
|
| 200 |
+
"pool_kwargs": {
|
| 201 |
+
"num_kp": 32,
|
| 202 |
+
"learnable_temperature": false,
|
| 203 |
+
"temperature": 1.0,
|
| 204 |
+
"noise_std": 0.0,
|
| 205 |
+
"output_variance": false
|
| 206 |
+
}
|
| 207 |
+
},
|
| 208 |
+
"obs_randomizer_class": "CropRandomizer",
|
| 209 |
+
"obs_randomizer_kwargs": {
|
| 210 |
+
"crop_height": 76,
|
| 211 |
+
"crop_width": 76,
|
| 212 |
+
"num_crops": 1,
|
| 213 |
+
"pos_enc": false
|
| 214 |
+
}
|
| 215 |
+
},
|
| 216 |
+
"depth": {
|
| 217 |
+
"core_class": "VisualCore",
|
| 218 |
+
"core_kwargs": {},
|
| 219 |
+
"obs_randomizer_class": null,
|
| 220 |
+
"obs_randomizer_kwargs": {}
|
| 221 |
+
},
|
| 222 |
+
"scan": {
|
| 223 |
+
"core_class": "ScanCore",
|
| 224 |
+
"core_kwargs": {},
|
| 225 |
+
"obs_randomizer_class": null,
|
| 226 |
+
"obs_randomizer_kwargs": {}
|
| 227 |
+
}
|
| 228 |
+
}
|
| 229 |
+
},
|
| 230 |
+
"meta": {
|
| 231 |
+
"hp_base_config_file": "/tmp/core_train_configs/bc.json",
|
| 232 |
+
"hp_keys": [
|
| 233 |
+
"ds",
|
| 234 |
+
"seed"
|
| 235 |
+
],
|
| 236 |
+
"hp_values": [
|
| 237 |
+
"mug_cleanup_O1",
|
| 238 |
+
101
|
| 239 |
+
]
|
| 240 |
+
}
|
| 241 |
+
}
|
data_files/core_train_configs/bc_rnn_image_ds_mug_cleanup_O2_seed_101.json
ADDED
|
@@ -0,0 +1,241 @@
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
| 1 |
+
{
|
| 2 |
+
"algo_name": "bc",
|
| 3 |
+
"experiment": {
|
| 4 |
+
"name": "bc_rnn_image_ds_mug_cleanup_O2_seed_101",
|
| 5 |
+
"validate": false,
|
| 6 |
+
"logging": {
|
| 7 |
+
"terminal_output_to_txt": true,
|
| 8 |
+
"log_tb": true,
|
| 9 |
+
"log_wandb": false,
|
| 10 |
+
"wandb_proj_name": "debug"
|
| 11 |
+
},
|
| 12 |
+
"save": {
|
| 13 |
+
"enabled": true,
|
| 14 |
+
"every_n_seconds": null,
|
| 15 |
+
"every_n_epochs": 20,
|
| 16 |
+
"epochs": [],
|
| 17 |
+
"on_best_validation": false,
|
| 18 |
+
"on_best_rollout_return": false,
|
| 19 |
+
"on_best_rollout_success_rate": true
|
| 20 |
+
},
|
| 21 |
+
"epoch_every_n_steps": 500,
|
| 22 |
+
"validation_epoch_every_n_steps": 50,
|
| 23 |
+
"env": null,
|
| 24 |
+
"additional_envs": null,
|
| 25 |
+
"render": false,
|
| 26 |
+
"render_video": true,
|
| 27 |
+
"keep_all_videos": false,
|
| 28 |
+
"video_skip": 5,
|
| 29 |
+
"rollout": {
|
| 30 |
+
"enabled": true,
|
| 31 |
+
"n": 50,
|
| 32 |
+
"horizon": 500,
|
| 33 |
+
"rate": 20,
|
| 34 |
+
"warmstart": 0,
|
| 35 |
+
"terminate_on_success": true
|
| 36 |
+
}
|
| 37 |
+
},
|
| 38 |
+
"train": {
|
| 39 |
+
"data": "/tmp/core_datasets/mug_cleanup/demo_src_mug_cleanup_task_O2/demo.hdf5",
|
| 40 |
+
"output_dir": "/tmp/core_training_results",
|
| 41 |
+
"num_data_workers": 4,
|
| 42 |
+
"hdf5_cache_mode": "low_dim",
|
| 43 |
+
"hdf5_use_swmr": true,
|
| 44 |
+
"hdf5_load_next_obs": false,
|
| 45 |
+
"hdf5_normalize_obs": false,
|
| 46 |
+
"hdf5_filter_key": null,
|
| 47 |
+
"hdf5_validation_filter_key": null,
|
| 48 |
+
"seq_length": 10,
|
| 49 |
+
"pad_seq_length": true,
|
| 50 |
+
"frame_stack": 1,
|
| 51 |
+
"pad_frame_stack": true,
|
| 52 |
+
"dataset_keys": [
|
| 53 |
+
"actions",
|
| 54 |
+
"rewards",
|
| 55 |
+
"dones"
|
| 56 |
+
],
|
| 57 |
+
"goal_mode": null,
|
| 58 |
+
"cuda": true,
|
| 59 |
+
"batch_size": 16,
|
| 60 |
+
"num_epochs": 600,
|
| 61 |
+
"seed": 101
|
| 62 |
+
},
|
| 63 |
+
"algo": {
|
| 64 |
+
"optim_params": {
|
| 65 |
+
"policy": {
|
| 66 |
+
"optimizer_type": "adam",
|
| 67 |
+
"learning_rate": {
|
| 68 |
+
"initial": 0.0001,
|
| 69 |
+
"decay_factor": 0.1,
|
| 70 |
+
"epoch_schedule": [],
|
| 71 |
+
"scheduler_type": "multistep"
|
| 72 |
+
},
|
| 73 |
+
"regularization": {
|
| 74 |
+
"L2": 0.0
|
| 75 |
+
}
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"loss": {
|
| 79 |
+
"l2_weight": 1.0,
|
| 80 |
+
"l1_weight": 0.0,
|
| 81 |
+
"cos_weight": 0.0
|
| 82 |
+
},
|
| 83 |
+
"actor_layer_dims": [],
|
| 84 |
+
"gaussian": {
|
| 85 |
+
"enabled": false,
|
| 86 |
+
"fixed_std": false,
|
| 87 |
+
"init_std": 0.1,
|
| 88 |
+
"min_std": 0.01,
|
| 89 |
+
"std_activation": "softplus",
|
| 90 |
+
"low_noise_eval": true
|
| 91 |
+
},
|
| 92 |
+
"gmm": {
|
| 93 |
+
"enabled": true,
|
| 94 |
+
"num_modes": 5,
|
| 95 |
+
"min_std": 0.0001,
|
| 96 |
+
"std_activation": "softplus",
|
| 97 |
+
"low_noise_eval": true
|
| 98 |
+
},
|
| 99 |
+
"vae": {
|
| 100 |
+
"enabled": false,
|
| 101 |
+
"latent_dim": 14,
|
| 102 |
+
"latent_clip": null,
|
| 103 |
+
"kl_weight": 1.0,
|
| 104 |
+
"decoder": {
|
| 105 |
+
"is_conditioned": true,
|
| 106 |
+
"reconstruction_sum_across_elements": false
|
| 107 |
+
},
|
| 108 |
+
"prior": {
|
| 109 |
+
"learn": false,
|
| 110 |
+
"is_conditioned": false,
|
| 111 |
+
"use_gmm": false,
|
| 112 |
+
"gmm_num_modes": 10,
|
| 113 |
+
"gmm_learn_weights": false,
|
| 114 |
+
"use_categorical": false,
|
| 115 |
+
"categorical_dim": 10,
|
| 116 |
+
"categorical_gumbel_softmax_hard": false,
|
| 117 |
+
"categorical_init_temp": 1.0,
|
| 118 |
+
"categorical_temp_anneal_step": 0.001,
|
| 119 |
+
"categorical_min_temp": 0.3
|
| 120 |
+
},
|
| 121 |
+
"encoder_layer_dims": [
|
| 122 |
+
300,
|
| 123 |
+
400
|
| 124 |
+
],
|
| 125 |
+
"decoder_layer_dims": [
|
| 126 |
+
300,
|
| 127 |
+
400
|
| 128 |
+
],
|
| 129 |
+
"prior_layer_dims": [
|
| 130 |
+
300,
|
| 131 |
+
400
|
| 132 |
+
]
|
| 133 |
+
},
|
| 134 |
+
"rnn": {
|
| 135 |
+
"enabled": true,
|
| 136 |
+
"horizon": 10,
|
| 137 |
+
"hidden_dim": 1000,
|
| 138 |
+
"rnn_type": "LSTM",
|
| 139 |
+
"num_layers": 2,
|
| 140 |
+
"open_loop": false,
|
| 141 |
+
"kwargs": {
|
| 142 |
+
"bidirectional": false
|
| 143 |
+
}
|
| 144 |
+
},
|
| 145 |
+
"transformer": {
|
| 146 |
+
"enabled": false,
|
| 147 |
+
"context_length": 10,
|
| 148 |
+
"embed_dim": 512,
|
| 149 |
+
"num_layers": 6,
|
| 150 |
+
"num_heads": 8,
|
| 151 |
+
"emb_dropout": 0.1,
|
| 152 |
+
"attn_dropout": 0.1,
|
| 153 |
+
"block_output_dropout": 0.1,
|
| 154 |
+
"sinusoidal_embedding": false,
|
| 155 |
+
"activation": "gelu",
|
| 156 |
+
"supervise_all_steps": false,
|
| 157 |
+
"nn_parameter_for_timesteps": true
|
| 158 |
+
}
|
| 159 |
+
},
|
| 160 |
+
"observation": {
|
| 161 |
+
"modalities": {
|
| 162 |
+
"obs": {
|
| 163 |
+
"low_dim": [
|
| 164 |
+
"robot0_eef_pos",
|
| 165 |
+
"robot0_eef_quat",
|
| 166 |
+
"robot0_gripper_qpos"
|
| 167 |
+
],
|
| 168 |
+
"rgb": [
|
| 169 |
+
"agentview_image",
|
| 170 |
+
"robot0_eye_in_hand_image"
|
| 171 |
+
],
|
| 172 |
+
"depth": [],
|
| 173 |
+
"scan": []
|
| 174 |
+
},
|
| 175 |
+
"goal": {
|
| 176 |
+
"low_dim": [],
|
| 177 |
+
"rgb": [],
|
| 178 |
+
"depth": [],
|
| 179 |
+
"scan": []
|
| 180 |
+
}
|
| 181 |
+
},
|
| 182 |
+
"encoder": {
|
| 183 |
+
"low_dim": {
|
| 184 |
+
"core_class": null,
|
| 185 |
+
"core_kwargs": {},
|
| 186 |
+
"obs_randomizer_class": null,
|
| 187 |
+
"obs_randomizer_kwargs": {}
|
| 188 |
+
},
|
| 189 |
+
"rgb": {
|
| 190 |
+
"core_class": "VisualCore",
|
| 191 |
+
"core_kwargs": {
|
| 192 |
+
"feature_dimension": 64,
|
| 193 |
+
"flatten": true,
|
| 194 |
+
"backbone_class": "ResNet18Conv",
|
| 195 |
+
"backbone_kwargs": {
|
| 196 |
+
"pretrained": false,
|
| 197 |
+
"input_coord_conv": false
|
| 198 |
+
},
|
| 199 |
+
"pool_class": "SpatialSoftmax",
|
| 200 |
+
"pool_kwargs": {
|
| 201 |
+
"num_kp": 32,
|
| 202 |
+
"learnable_temperature": false,
|
| 203 |
+
"temperature": 1.0,
|
| 204 |
+
"noise_std": 0.0,
|
| 205 |
+
"output_variance": false
|
| 206 |
+
}
|
| 207 |
+
},
|
| 208 |
+
"obs_randomizer_class": "CropRandomizer",
|
| 209 |
+
"obs_randomizer_kwargs": {
|
| 210 |
+
"crop_height": 76,
|
| 211 |
+
"crop_width": 76,
|
| 212 |
+
"num_crops": 1,
|
| 213 |
+
"pos_enc": false
|
| 214 |
+
}
|
| 215 |
+
},
|
| 216 |
+
"depth": {
|
| 217 |
+
"core_class": "VisualCore",
|
| 218 |
+
"core_kwargs": {},
|
| 219 |
+
"obs_randomizer_class": null,
|
| 220 |
+
"obs_randomizer_kwargs": {}
|
| 221 |
+
},
|
| 222 |
+
"scan": {
|
| 223 |
+
"core_class": "ScanCore",
|
| 224 |
+
"core_kwargs": {},
|
| 225 |
+
"obs_randomizer_class": null,
|
| 226 |
+
"obs_randomizer_kwargs": {}
|
| 227 |
+
}
|
| 228 |
+
}
|
| 229 |
+
},
|
| 230 |
+
"meta": {
|
| 231 |
+
"hp_base_config_file": "/tmp/core_train_configs/bc.json",
|
| 232 |
+
"hp_keys": [
|
| 233 |
+
"ds",
|
| 234 |
+
"seed"
|
| 235 |
+
],
|
| 236 |
+
"hp_values": [
|
| 237 |
+
"mug_cleanup_O2",
|
| 238 |
+
101
|
| 239 |
+
]
|
| 240 |
+
}
|
| 241 |
+
}
|
data_files/core_train_configs/bc_rnn_image_ds_nut_assembly_D0_seed_101.json
ADDED
|
@@ -0,0 +1,241 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
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|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
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|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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"train": {
|
| 39 |
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"data": "/tmp/core_datasets/nut_assembly/demo_src_nut_assembly_task_D0/demo.hdf5",
|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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"policy": {
|
| 66 |
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"optimizer_type": "adam",
|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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"low_noise_eval": true
|
| 91 |
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|
| 92 |
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|
| 93 |
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"enabled": true,
|
| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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"is_conditioned": true,
|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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"gmm_num_modes": 10,
|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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"prior_layer_dims": [
|
| 130 |
+
300,
|
| 131 |
+
400
|
| 132 |
+
]
|
| 133 |
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},
|
| 134 |
+
"rnn": {
|
| 135 |
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"enabled": true,
|
| 136 |
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"horizon": 10,
|
| 137 |
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"hidden_dim": 1000,
|
| 138 |
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"rnn_type": "LSTM",
|
| 139 |
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"num_layers": 2,
|
| 140 |
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"open_loop": false,
|
| 141 |
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"kwargs": {
|
| 142 |
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"bidirectional": false
|
| 143 |
+
}
|
| 144 |
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},
|
| 145 |
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"transformer": {
|
| 146 |
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"enabled": false,
|
| 147 |
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"context_length": 10,
|
| 148 |
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"embed_dim": 512,
|
| 149 |
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"num_layers": 6,
|
| 150 |
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"num_heads": 8,
|
| 151 |
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|
| 152 |
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|
| 153 |
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|
| 154 |
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"sinusoidal_embedding": false,
|
| 155 |
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"activation": "gelu",
|
| 156 |
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|
| 157 |
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"nn_parameter_for_timesteps": true
|
| 158 |
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}
|
| 159 |
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},
|
| 160 |
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"observation": {
|
| 161 |
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"modalities": {
|
| 162 |
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"obs": {
|
| 163 |
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"low_dim": [
|
| 164 |
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"robot0_eef_pos",
|
| 165 |
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"robot0_eef_quat",
|
| 166 |
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"robot0_gripper_qpos"
|
| 167 |
+
],
|
| 168 |
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"rgb": [
|
| 169 |
+
"agentview_image",
|
| 170 |
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"robot0_eye_in_hand_image"
|
| 171 |
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],
|
| 172 |
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"depth": [],
|
| 173 |
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"scan": []
|
| 174 |
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|
| 175 |
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"goal": {
|
| 176 |
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|
| 177 |
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"rgb": [],
|
| 178 |
+
"depth": [],
|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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"encoder": {
|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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"obs_randomizer_class": null,
|
| 187 |
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"obs_randomizer_kwargs": {}
|
| 188 |
+
},
|
| 189 |
+
"rgb": {
|
| 190 |
+
"core_class": "VisualCore",
|
| 191 |
+
"core_kwargs": {
|
| 192 |
+
"feature_dimension": 64,
|
| 193 |
+
"flatten": true,
|
| 194 |
+
"backbone_class": "ResNet18Conv",
|
| 195 |
+
"backbone_kwargs": {
|
| 196 |
+
"pretrained": false,
|
| 197 |
+
"input_coord_conv": false
|
| 198 |
+
},
|
| 199 |
+
"pool_class": "SpatialSoftmax",
|
| 200 |
+
"pool_kwargs": {
|
| 201 |
+
"num_kp": 32,
|
| 202 |
+
"learnable_temperature": false,
|
| 203 |
+
"temperature": 1.0,
|
| 204 |
+
"noise_std": 0.0,
|
| 205 |
+
"output_variance": false
|
| 206 |
+
}
|
| 207 |
+
},
|
| 208 |
+
"obs_randomizer_class": "CropRandomizer",
|
| 209 |
+
"obs_randomizer_kwargs": {
|
| 210 |
+
"crop_height": 76,
|
| 211 |
+
"crop_width": 76,
|
| 212 |
+
"num_crops": 1,
|
| 213 |
+
"pos_enc": false
|
| 214 |
+
}
|
| 215 |
+
},
|
| 216 |
+
"depth": {
|
| 217 |
+
"core_class": "VisualCore",
|
| 218 |
+
"core_kwargs": {},
|
| 219 |
+
"obs_randomizer_class": null,
|
| 220 |
+
"obs_randomizer_kwargs": {}
|
| 221 |
+
},
|
| 222 |
+
"scan": {
|
| 223 |
+
"core_class": "ScanCore",
|
| 224 |
+
"core_kwargs": {},
|
| 225 |
+
"obs_randomizer_class": null,
|
| 226 |
+
"obs_randomizer_kwargs": {}
|
| 227 |
+
}
|
| 228 |
+
}
|
| 229 |
+
},
|
| 230 |
+
"meta": {
|
| 231 |
+
"hp_base_config_file": "/tmp/core_train_configs/bc.json",
|
| 232 |
+
"hp_keys": [
|
| 233 |
+
"ds",
|
| 234 |
+
"seed"
|
| 235 |
+
],
|
| 236 |
+
"hp_values": [
|
| 237 |
+
"nut_assembly_D0",
|
| 238 |
+
101
|
| 239 |
+
]
|
| 240 |
+
}
|
| 241 |
+
}
|
data_files/core_train_configs/bc_rnn_image_ds_pick_place_D0_seed_101.json
ADDED
|
@@ -0,0 +1,241 @@
|
|
|
|
|
|
|
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|
|
|
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|
|
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"algo_name": "bc",
|
| 3 |
+
"experiment": {
|
| 4 |
+
"name": "bc_rnn_image_ds_pick_place_D0_seed_101",
|
| 5 |
+
"validate": false,
|
| 6 |
+
"logging": {
|
| 7 |
+
"terminal_output_to_txt": true,
|
| 8 |
+
"log_tb": true,
|
| 9 |
+
"log_wandb": false,
|
| 10 |
+
"wandb_proj_name": "debug"
|
| 11 |
+
},
|
| 12 |
+
"save": {
|
| 13 |
+
"enabled": true,
|
| 14 |
+
"every_n_seconds": null,
|
| 15 |
+
"every_n_epochs": 20,
|
| 16 |
+
"epochs": [],
|
| 17 |
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| 18 |
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| 19 |
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| 20 |
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|
| 30 |
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| 36 |
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|
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| 38 |
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|
| 39 |
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| 134 |
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|
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|
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| 141 |
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| 142 |
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| 143 |
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| 145 |
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| 146 |
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| 159 |
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| 160 |
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| 162 |
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| 163 |
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| 166 |
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| 167 |
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| 168 |
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|
| 169 |
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| 171 |
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| 172 |
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| 173 |
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| 174 |
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| 175 |
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| 176 |
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| 177 |
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| 178 |
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| 179 |
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| 180 |
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| 182 |
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| 183 |
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| 185 |
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| 186 |
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| 187 |
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| 188 |
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| 189 |
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| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
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|
| 196 |
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|
| 197 |
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|
| 198 |
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|
| 199 |
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|
| 200 |
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|
| 201 |
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|
| 202 |
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|
| 203 |
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|
| 204 |
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|
| 205 |
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|
| 206 |
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|
| 207 |
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|
| 208 |
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|
| 209 |
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|
| 210 |
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|
| 211 |
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|
| 212 |
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|
| 213 |
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|
| 214 |
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|
| 215 |
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|
| 216 |
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|
| 217 |
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|
| 218 |
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|
| 219 |
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|
| 220 |
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|
| 221 |
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|
| 222 |
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|
| 223 |
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|
| 224 |
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|
| 225 |
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|
| 226 |
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|
| 227 |
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|
| 228 |
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}
|
| 229 |
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},
|
| 230 |
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"meta": {
|
| 231 |
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"hp_base_config_file": "/tmp/core_train_configs/bc.json",
|
| 232 |
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"hp_keys": [
|
| 233 |
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|
| 234 |
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|
| 235 |
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|
| 236 |
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|
| 237 |
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|
| 238 |
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|
| 239 |
+
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|
| 240 |
+
}
|
| 241 |
+
}
|
data_files/core_train_configs/bc_rnn_image_ds_square_D0_seed_101.json
ADDED
|
@@ -0,0 +1,241 @@
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|
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|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
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|
|
|
|
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|
|
|
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|
|
|
|
|
|
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|
|
|
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|
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|
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|
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|
|
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|
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|
|
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|
|
|
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|
|
|
|
|
|
|
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|
|
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|
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|
|
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|
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|
|
|
|
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|
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|
|
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|
|
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|
|
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|
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|
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|
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|
|
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|
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|
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|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"algo_name": "bc",
|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
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|
| 8 |
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|
| 9 |
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|
| 10 |
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|
| 11 |
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| 12 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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},
|
| 38 |
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"train": {
|
| 39 |
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"data": "./data_files/core_datasets/square/demo_src_square_task_D0/demo.hdf5",
|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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| 50 |
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| 51 |
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| 52 |
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| 53 |
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| 54 |
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| 55 |
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| 56 |
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|
| 58 |
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| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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| 88 |
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|
| 89 |
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|
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|
| 91 |
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|
| 92 |
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|
| 93 |
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|
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|
| 95 |
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|
| 96 |
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|
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|
| 98 |
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|
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|
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|
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|
| 105 |
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|
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|
| 107 |
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|
| 108 |
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|
| 109 |
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|
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
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|
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|
| 117 |
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|
| 118 |
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|
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|
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| 122 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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| 148 |
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|
| 150 |
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|
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|
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|
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| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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|
| 167 |
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|
| 168 |
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|
| 169 |
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"agentview_image",
|
| 170 |
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|
| 171 |
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|
| 172 |
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|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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|
| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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|
| 189 |
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"rgb": {
|
| 190 |
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"core_class": "VisualCore",
|
| 191 |
+
"core_kwargs": {
|
| 192 |
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"feature_dimension": 64,
|
| 193 |
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"flatten": true,
|
| 194 |
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"backbone_class": "ResNet18Conv",
|
| 195 |
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"backbone_kwargs": {
|
| 196 |
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"pretrained": false,
|
| 197 |
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"input_coord_conv": false
|
| 198 |
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|
| 199 |
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"pool_class": "SpatialSoftmax",
|
| 200 |
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"pool_kwargs": {
|
| 201 |
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|
| 202 |
+
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|
| 203 |
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"temperature": 1.0,
|
| 204 |
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|
| 205 |
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|
| 206 |
+
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|
| 207 |
+
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|
| 208 |
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"obs_randomizer_class": "CropRandomizer",
|
| 209 |
+
"obs_randomizer_kwargs": {
|
| 210 |
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|
| 211 |
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"crop_width": 76,
|
| 212 |
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|
| 213 |
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"pos_enc": false
|
| 214 |
+
}
|
| 215 |
+
},
|
| 216 |
+
"depth": {
|
| 217 |
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"core_class": "VisualCore",
|
| 218 |
+
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|
| 219 |
+
"obs_randomizer_class": null,
|
| 220 |
+
"obs_randomizer_kwargs": {}
|
| 221 |
+
},
|
| 222 |
+
"scan": {
|
| 223 |
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"core_class": "ScanCore",
|
| 224 |
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|
| 225 |
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|
| 226 |
+
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|
| 227 |
+
}
|
| 228 |
+
}
|
| 229 |
+
},
|
| 230 |
+
"meta": {
|
| 231 |
+
"hp_base_config_file": "/tmp/core_train_configs/bc.json",
|
| 232 |
+
"hp_keys": [
|
| 233 |
+
"ds",
|
| 234 |
+
"seed"
|
| 235 |
+
],
|
| 236 |
+
"hp_values": [
|
| 237 |
+
"square_D0",
|
| 238 |
+
101
|
| 239 |
+
]
|
| 240 |
+
}
|
| 241 |
+
}
|
data_files/core_train_configs/bc_rnn_image_ds_square_D1_seed_101.json
ADDED
|
@@ -0,0 +1,241 @@
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|
|
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|
|
|
|
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|
|
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|
|
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|
|
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|
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|
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|
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|
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|
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|
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|
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|
|
|
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|
|
|
|
|
|
|
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|
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|
|
|
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|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
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|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
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|
|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
|
|
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|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"algo_name": "bc",
|
| 3 |
+
"experiment": {
|
| 4 |
+
"name": "bc_rnn_image_ds_square_D1_seed_101",
|
| 5 |
+
"validate": false,
|
| 6 |
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"logging": {
|
| 7 |
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|
| 8 |
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"log_tb": true,
|
| 9 |
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"log_wandb": false,
|
| 10 |
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"wandb_proj_name": "debug"
|
| 11 |
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},
|
| 12 |
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"save": {
|
| 13 |
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"enabled": true,
|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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"on_best_rollout_success_rate": true
|
| 20 |
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},
|
| 21 |
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"epoch_every_n_steps": 500,
|
| 22 |
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|
| 23 |
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"env": null,
|
| 24 |
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|
| 25 |
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"render": false,
|
| 26 |
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"render_video": true,
|
| 27 |
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"keep_all_videos": false,
|
| 28 |
+
"video_skip": 5,
|
| 29 |
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"rollout": {
|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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"terminate_on_success": true
|
| 36 |
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}
|
| 37 |
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},
|
| 38 |
+
"train": {
|
| 39 |
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"data": "/tmp/core_datasets/square/demo_src_square_task_D1/demo.hdf5",
|
| 40 |
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"output_dir": "/tmp/core_training_results",
|
| 41 |
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|
| 42 |
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|
| 43 |
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| 44 |
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| 45 |
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| 46 |
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| 47 |
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| 48 |
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"seq_length": 10,
|
| 49 |
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"pad_seq_length": true,
|
| 50 |
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"frame_stack": 1,
|
| 51 |
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"pad_frame_stack": true,
|
| 52 |
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"dataset_keys": [
|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
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|
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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},
|
| 63 |
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"algo": {
|
| 64 |
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|
| 65 |
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"policy": {
|
| 66 |
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"optimizer_type": "adam",
|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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},
|
| 73 |
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"regularization": {
|
| 74 |
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"L2": 0.0
|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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"loss": {
|
| 79 |
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|
| 80 |
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| 81 |
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|
| 82 |
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|
| 84 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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"low_noise_eval": true
|
| 91 |
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|
| 92 |
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"gmm": {
|
| 93 |
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"enabled": true,
|
| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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"vae": {
|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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"decoder": {
|
| 105 |
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|
| 106 |
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|
| 107 |
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|
| 108 |
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"prior": {
|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
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|
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|
| 117 |
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|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
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|
| 124 |
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|
| 125 |
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|
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|
| 127 |
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|
| 128 |
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|
| 129 |
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|
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|
| 131 |
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|
| 132 |
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|
| 133 |
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},
|
| 134 |
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"rnn": {
|
| 135 |
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"enabled": true,
|
| 136 |
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"horizon": 10,
|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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"kwargs": {
|
| 142 |
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"bidirectional": false
|
| 143 |
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}
|
| 144 |
+
},
|
| 145 |
+
"transformer": {
|
| 146 |
+
"enabled": false,
|
| 147 |
+
"context_length": 10,
|
| 148 |
+
"embed_dim": 512,
|
| 149 |
+
"num_layers": 6,
|
| 150 |
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"num_heads": 8,
|
| 151 |
+
"emb_dropout": 0.1,
|
| 152 |
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"attn_dropout": 0.1,
|
| 153 |
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"block_output_dropout": 0.1,
|
| 154 |
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"sinusoidal_embedding": false,
|
| 155 |
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"activation": "gelu",
|
| 156 |
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"supervise_all_steps": false,
|
| 157 |
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"nn_parameter_for_timesteps": true
|
| 158 |
+
}
|
| 159 |
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},
|
| 160 |
+
"observation": {
|
| 161 |
+
"modalities": {
|
| 162 |
+
"obs": {
|
| 163 |
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"low_dim": [
|
| 164 |
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"robot0_eef_pos",
|
| 165 |
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"robot0_eef_quat",
|
| 166 |
+
"robot0_gripper_qpos"
|
| 167 |
+
],
|
| 168 |
+
"rgb": [
|
| 169 |
+
"agentview_image",
|
| 170 |
+
"robot0_eye_in_hand_image"
|
| 171 |
+
],
|
| 172 |
+
"depth": [],
|
| 173 |
+
"scan": []
|
| 174 |
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|
| 175 |
+
"goal": {
|
| 176 |
+
"low_dim": [],
|
| 177 |
+
"rgb": [],
|
| 178 |
+
"depth": [],
|
| 179 |
+
"scan": []
|
| 180 |
+
}
|
| 181 |
+
},
|
| 182 |
+
"encoder": {
|
| 183 |
+
"low_dim": {
|
| 184 |
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"core_class": null,
|
| 185 |
+
"core_kwargs": {},
|
| 186 |
+
"obs_randomizer_class": null,
|
| 187 |
+
"obs_randomizer_kwargs": {}
|
| 188 |
+
},
|
| 189 |
+
"rgb": {
|
| 190 |
+
"core_class": "VisualCore",
|
| 191 |
+
"core_kwargs": {
|
| 192 |
+
"feature_dimension": 64,
|
| 193 |
+
"flatten": true,
|
| 194 |
+
"backbone_class": "ResNet18Conv",
|
| 195 |
+
"backbone_kwargs": {
|
| 196 |
+
"pretrained": false,
|
| 197 |
+
"input_coord_conv": false
|
| 198 |
+
},
|
| 199 |
+
"pool_class": "SpatialSoftmax",
|
| 200 |
+
"pool_kwargs": {
|
| 201 |
+
"num_kp": 32,
|
| 202 |
+
"learnable_temperature": false,
|
| 203 |
+
"temperature": 1.0,
|
| 204 |
+
"noise_std": 0.0,
|
| 205 |
+
"output_variance": false
|
| 206 |
+
}
|
| 207 |
+
},
|
| 208 |
+
"obs_randomizer_class": "CropRandomizer",
|
| 209 |
+
"obs_randomizer_kwargs": {
|
| 210 |
+
"crop_height": 76,
|
| 211 |
+
"crop_width": 76,
|
| 212 |
+
"num_crops": 1,
|
| 213 |
+
"pos_enc": false
|
| 214 |
+
}
|
| 215 |
+
},
|
| 216 |
+
"depth": {
|
| 217 |
+
"core_class": "VisualCore",
|
| 218 |
+
"core_kwargs": {},
|
| 219 |
+
"obs_randomizer_class": null,
|
| 220 |
+
"obs_randomizer_kwargs": {}
|
| 221 |
+
},
|
| 222 |
+
"scan": {
|
| 223 |
+
"core_class": "ScanCore",
|
| 224 |
+
"core_kwargs": {},
|
| 225 |
+
"obs_randomizer_class": null,
|
| 226 |
+
"obs_randomizer_kwargs": {}
|
| 227 |
+
}
|
| 228 |
+
}
|
| 229 |
+
},
|
| 230 |
+
"meta": {
|
| 231 |
+
"hp_base_config_file": "/tmp/core_train_configs/bc.json",
|
| 232 |
+
"hp_keys": [
|
| 233 |
+
"ds",
|
| 234 |
+
"seed"
|
| 235 |
+
],
|
| 236 |
+
"hp_values": [
|
| 237 |
+
"square_D1",
|
| 238 |
+
101
|
| 239 |
+
]
|
| 240 |
+
}
|
| 241 |
+
}
|
data_files/core_train_configs/bc_rnn_image_ds_square_D2_seed_101.json
ADDED
|
@@ -0,0 +1,241 @@
|
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|
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|
|
|
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|
|
|
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|
|
|
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|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
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|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"algo_name": "bc",
|
| 3 |
+
"experiment": {
|
| 4 |
+
"name": "bc_rnn_image_ds_square_D2_seed_101",
|
| 5 |
+
"validate": false,
|
| 6 |
+
"logging": {
|
| 7 |
+
"terminal_output_to_txt": true,
|
| 8 |
+
"log_tb": true,
|
| 9 |
+
"log_wandb": false,
|
| 10 |
+
"wandb_proj_name": "debug"
|
| 11 |
+
},
|
| 12 |
+
"save": {
|
| 13 |
+
"enabled": true,
|
| 14 |
+
"every_n_seconds": null,
|
| 15 |
+
"every_n_epochs": 20,
|
| 16 |
+
"epochs": [],
|
| 17 |
+
"on_best_validation": false,
|
| 18 |
+
"on_best_rollout_return": false,
|
| 19 |
+
"on_best_rollout_success_rate": true
|
| 20 |
+
},
|
| 21 |
+
"epoch_every_n_steps": 500,
|
| 22 |
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"validation_epoch_every_n_steps": 50,
|
| 23 |
+
"env": null,
|
| 24 |
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"additional_envs": null,
|
| 25 |
+
"render": false,
|
| 26 |
+
"render_video": true,
|
| 27 |
+
"keep_all_videos": false,
|
| 28 |
+
"video_skip": 5,
|
| 29 |
+
"rollout": {
|
| 30 |
+
"enabled": true,
|
| 31 |
+
"n": 50,
|
| 32 |
+
"horizon": 400,
|
| 33 |
+
"rate": 20,
|
| 34 |
+
"warmstart": 0,
|
| 35 |
+
"terminate_on_success": true
|
| 36 |
+
}
|
| 37 |
+
},
|
| 38 |
+
"train": {
|
| 39 |
+
"data": "/tmp/core_datasets/square/demo_src_square_task_D2/demo.hdf5",
|
| 40 |
+
"output_dir": "/tmp/core_training_results",
|
| 41 |
+
"num_data_workers": 4,
|
| 42 |
+
"hdf5_cache_mode": "low_dim",
|
| 43 |
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"hdf5_use_swmr": true,
|
| 44 |
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|
| 45 |
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|
| 46 |
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"hdf5_filter_key": null,
|
| 47 |
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"hdf5_validation_filter_key": null,
|
| 48 |
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"seq_length": 10,
|
| 49 |
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"pad_seq_length": true,
|
| 50 |
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"frame_stack": 1,
|
| 51 |
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"pad_frame_stack": true,
|
| 52 |
+
"dataset_keys": [
|
| 53 |
+
"actions",
|
| 54 |
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"rewards",
|
| 55 |
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|
| 56 |
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],
|
| 57 |
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"goal_mode": null,
|
| 58 |
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"cuda": true,
|
| 59 |
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"batch_size": 16,
|
| 60 |
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"num_epochs": 600,
|
| 61 |
+
"seed": 101
|
| 62 |
+
},
|
| 63 |
+
"algo": {
|
| 64 |
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"optim_params": {
|
| 65 |
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"policy": {
|
| 66 |
+
"optimizer_type": "adam",
|
| 67 |
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"learning_rate": {
|
| 68 |
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"initial": 0.0001,
|
| 69 |
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"decay_factor": 0.1,
|
| 70 |
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"epoch_schedule": [],
|
| 71 |
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"scheduler_type": "multistep"
|
| 72 |
+
},
|
| 73 |
+
"regularization": {
|
| 74 |
+
"L2": 0.0
|
| 75 |
+
}
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"loss": {
|
| 79 |
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"l2_weight": 1.0,
|
| 80 |
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"l1_weight": 0.0,
|
| 81 |
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"cos_weight": 0.0
|
| 82 |
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},
|
| 83 |
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"actor_layer_dims": [],
|
| 84 |
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"gaussian": {
|
| 85 |
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"enabled": false,
|
| 86 |
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"fixed_std": false,
|
| 87 |
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"init_std": 0.1,
|
| 88 |
+
"min_std": 0.01,
|
| 89 |
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"std_activation": "softplus",
|
| 90 |
+
"low_noise_eval": true
|
| 91 |
+
},
|
| 92 |
+
"gmm": {
|
| 93 |
+
"enabled": true,
|
| 94 |
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"num_modes": 5,
|
| 95 |
+
"min_std": 0.0001,
|
| 96 |
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"std_activation": "softplus",
|
| 97 |
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"low_noise_eval": true
|
| 98 |
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},
|
| 99 |
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"vae": {
|
| 100 |
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"enabled": false,
|
| 101 |
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"latent_dim": 14,
|
| 102 |
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"latent_clip": null,
|
| 103 |
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"kl_weight": 1.0,
|
| 104 |
+
"decoder": {
|
| 105 |
+
"is_conditioned": true,
|
| 106 |
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"reconstruction_sum_across_elements": false
|
| 107 |
+
},
|
| 108 |
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"prior": {
|
| 109 |
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"learn": false,
|
| 110 |
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|
| 111 |
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|
| 112 |
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"gmm_num_modes": 10,
|
| 113 |
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|
| 114 |
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"use_categorical": false,
|
| 115 |
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"categorical_dim": 10,
|
| 116 |
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"categorical_gumbel_softmax_hard": false,
|
| 117 |
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"categorical_init_temp": 1.0,
|
| 118 |
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"categorical_temp_anneal_step": 0.001,
|
| 119 |
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|
| 120 |
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|
| 121 |
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"encoder_layer_dims": [
|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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|
| 130 |
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|
| 131 |
+
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|
| 132 |
+
]
|
| 133 |
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},
|
| 134 |
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"rnn": {
|
| 135 |
+
"enabled": true,
|
| 136 |
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"horizon": 10,
|
| 137 |
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"hidden_dim": 1000,
|
| 138 |
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"rnn_type": "LSTM",
|
| 139 |
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|
| 140 |
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|
| 141 |
+
"kwargs": {
|
| 142 |
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"bidirectional": false
|
| 143 |
+
}
|
| 144 |
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},
|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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|
| 154 |
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|
| 155 |
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"activation": "gelu",
|
| 156 |
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|
| 157 |
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"nn_parameter_for_timesteps": true
|
| 158 |
+
}
|
| 159 |
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},
|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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|
| 167 |
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],
|
| 168 |
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"rgb": [
|
| 169 |
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"agentview_image",
|
| 170 |
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|
| 171 |
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],
|
| 172 |
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|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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|
| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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},
|
| 189 |
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|
| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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|
| 194 |
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"backbone_class": "ResNet18Conv",
|
| 195 |
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"backbone_kwargs": {
|
| 196 |
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"pretrained": false,
|
| 197 |
+
"input_coord_conv": false
|
| 198 |
+
},
|
| 199 |
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"pool_class": "SpatialSoftmax",
|
| 200 |
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|
| 201 |
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"num_kp": 32,
|
| 202 |
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"learnable_temperature": false,
|
| 203 |
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"temperature": 1.0,
|
| 204 |
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|
| 205 |
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"output_variance": false
|
| 206 |
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}
|
| 207 |
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},
|
| 208 |
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"obs_randomizer_class": "CropRandomizer",
|
| 209 |
+
"obs_randomizer_kwargs": {
|
| 210 |
+
"crop_height": 76,
|
| 211 |
+
"crop_width": 76,
|
| 212 |
+
"num_crops": 1,
|
| 213 |
+
"pos_enc": false
|
| 214 |
+
}
|
| 215 |
+
},
|
| 216 |
+
"depth": {
|
| 217 |
+
"core_class": "VisualCore",
|
| 218 |
+
"core_kwargs": {},
|
| 219 |
+
"obs_randomizer_class": null,
|
| 220 |
+
"obs_randomizer_kwargs": {}
|
| 221 |
+
},
|
| 222 |
+
"scan": {
|
| 223 |
+
"core_class": "ScanCore",
|
| 224 |
+
"core_kwargs": {},
|
| 225 |
+
"obs_randomizer_class": null,
|
| 226 |
+
"obs_randomizer_kwargs": {}
|
| 227 |
+
}
|
| 228 |
+
}
|
| 229 |
+
},
|
| 230 |
+
"meta": {
|
| 231 |
+
"hp_base_config_file": "/tmp/core_train_configs/bc.json",
|
| 232 |
+
"hp_keys": [
|
| 233 |
+
"ds",
|
| 234 |
+
"seed"
|
| 235 |
+
],
|
| 236 |
+
"hp_values": [
|
| 237 |
+
"square_D2",
|
| 238 |
+
101
|
| 239 |
+
]
|
| 240 |
+
}
|
| 241 |
+
}
|
data_files/core_train_configs/bc_rnn_image_ds_stack_D0_seed_101.json
ADDED
|
@@ -0,0 +1,241 @@
|
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|
|
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|
|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"algo_name": "bc",
|
| 3 |
+
"experiment": {
|
| 4 |
+
"name": "bc_rnn_image_ds_stack_D0_seed_101",
|
| 5 |
+
"validate": false,
|
| 6 |
+
"logging": {
|
| 7 |
+
"terminal_output_to_txt": true,
|
| 8 |
+
"log_tb": true,
|
| 9 |
+
"log_wandb": false,
|
| 10 |
+
"wandb_proj_name": "debug"
|
| 11 |
+
},
|
| 12 |
+
"save": {
|
| 13 |
+
"enabled": true,
|
| 14 |
+
"every_n_seconds": null,
|
| 15 |
+
"every_n_epochs": 20,
|
| 16 |
+
"epochs": [],
|
| 17 |
+
"on_best_validation": false,
|
| 18 |
+
"on_best_rollout_return": false,
|
| 19 |
+
"on_best_rollout_success_rate": true
|
| 20 |
+
},
|
| 21 |
+
"epoch_every_n_steps": 500,
|
| 22 |
+
"validation_epoch_every_n_steps": 50,
|
| 23 |
+
"env": null,
|
| 24 |
+
"additional_envs": null,
|
| 25 |
+
"render": false,
|
| 26 |
+
"render_video": true,
|
| 27 |
+
"keep_all_videos": false,
|
| 28 |
+
"video_skip": 5,
|
| 29 |
+
"rollout": {
|
| 30 |
+
"enabled": true,
|
| 31 |
+
"n": 50,
|
| 32 |
+
"horizon": 400,
|
| 33 |
+
"rate": 20,
|
| 34 |
+
"warmstart": 0,
|
| 35 |
+
"terminate_on_success": true
|
| 36 |
+
}
|
| 37 |
+
},
|
| 38 |
+
"train": {
|
| 39 |
+
"data": "/tmp/core_datasets/stack/demo_src_stack_task_D0/demo.hdf5",
|
| 40 |
+
"output_dir": "/tmp/core_training_results",
|
| 41 |
+
"num_data_workers": 4,
|
| 42 |
+
"hdf5_cache_mode": "low_dim",
|
| 43 |
+
"hdf5_use_swmr": true,
|
| 44 |
+
"hdf5_load_next_obs": false,
|
| 45 |
+
"hdf5_normalize_obs": false,
|
| 46 |
+
"hdf5_filter_key": null,
|
| 47 |
+
"hdf5_validation_filter_key": null,
|
| 48 |
+
"seq_length": 10,
|
| 49 |
+
"pad_seq_length": true,
|
| 50 |
+
"frame_stack": 1,
|
| 51 |
+
"pad_frame_stack": true,
|
| 52 |
+
"dataset_keys": [
|
| 53 |
+
"actions",
|
| 54 |
+
"rewards",
|
| 55 |
+
"dones"
|
| 56 |
+
],
|
| 57 |
+
"goal_mode": null,
|
| 58 |
+
"cuda": true,
|
| 59 |
+
"batch_size": 16,
|
| 60 |
+
"num_epochs": 600,
|
| 61 |
+
"seed": 101
|
| 62 |
+
},
|
| 63 |
+
"algo": {
|
| 64 |
+
"optim_params": {
|
| 65 |
+
"policy": {
|
| 66 |
+
"optimizer_type": "adam",
|
| 67 |
+
"learning_rate": {
|
| 68 |
+
"initial": 0.0001,
|
| 69 |
+
"decay_factor": 0.1,
|
| 70 |
+
"epoch_schedule": [],
|
| 71 |
+
"scheduler_type": "multistep"
|
| 72 |
+
},
|
| 73 |
+
"regularization": {
|
| 74 |
+
"L2": 0.0
|
| 75 |
+
}
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"loss": {
|
| 79 |
+
"l2_weight": 1.0,
|
| 80 |
+
"l1_weight": 0.0,
|
| 81 |
+
"cos_weight": 0.0
|
| 82 |
+
},
|
| 83 |
+
"actor_layer_dims": [],
|
| 84 |
+
"gaussian": {
|
| 85 |
+
"enabled": false,
|
| 86 |
+
"fixed_std": false,
|
| 87 |
+
"init_std": 0.1,
|
| 88 |
+
"min_std": 0.01,
|
| 89 |
+
"std_activation": "softplus",
|
| 90 |
+
"low_noise_eval": true
|
| 91 |
+
},
|
| 92 |
+
"gmm": {
|
| 93 |
+
"enabled": true,
|
| 94 |
+
"num_modes": 5,
|
| 95 |
+
"min_std": 0.0001,
|
| 96 |
+
"std_activation": "softplus",
|
| 97 |
+
"low_noise_eval": true
|
| 98 |
+
},
|
| 99 |
+
"vae": {
|
| 100 |
+
"enabled": false,
|
| 101 |
+
"latent_dim": 14,
|
| 102 |
+
"latent_clip": null,
|
| 103 |
+
"kl_weight": 1.0,
|
| 104 |
+
"decoder": {
|
| 105 |
+
"is_conditioned": true,
|
| 106 |
+
"reconstruction_sum_across_elements": false
|
| 107 |
+
},
|
| 108 |
+
"prior": {
|
| 109 |
+
"learn": false,
|
| 110 |
+
"is_conditioned": false,
|
| 111 |
+
"use_gmm": false,
|
| 112 |
+
"gmm_num_modes": 10,
|
| 113 |
+
"gmm_learn_weights": false,
|
| 114 |
+
"use_categorical": false,
|
| 115 |
+
"categorical_dim": 10,
|
| 116 |
+
"categorical_gumbel_softmax_hard": false,
|
| 117 |
+
"categorical_init_temp": 1.0,
|
| 118 |
+
"categorical_temp_anneal_step": 0.001,
|
| 119 |
+
"categorical_min_temp": 0.3
|
| 120 |
+
},
|
| 121 |
+
"encoder_layer_dims": [
|
| 122 |
+
300,
|
| 123 |
+
400
|
| 124 |
+
],
|
| 125 |
+
"decoder_layer_dims": [
|
| 126 |
+
300,
|
| 127 |
+
400
|
| 128 |
+
],
|
| 129 |
+
"prior_layer_dims": [
|
| 130 |
+
300,
|
| 131 |
+
400
|
| 132 |
+
]
|
| 133 |
+
},
|
| 134 |
+
"rnn": {
|
| 135 |
+
"enabled": true,
|
| 136 |
+
"horizon": 10,
|
| 137 |
+
"hidden_dim": 1000,
|
| 138 |
+
"rnn_type": "LSTM",
|
| 139 |
+
"num_layers": 2,
|
| 140 |
+
"open_loop": false,
|
| 141 |
+
"kwargs": {
|
| 142 |
+
"bidirectional": false
|
| 143 |
+
}
|
| 144 |
+
},
|
| 145 |
+
"transformer": {
|
| 146 |
+
"enabled": false,
|
| 147 |
+
"context_length": 10,
|
| 148 |
+
"embed_dim": 512,
|
| 149 |
+
"num_layers": 6,
|
| 150 |
+
"num_heads": 8,
|
| 151 |
+
"emb_dropout": 0.1,
|
| 152 |
+
"attn_dropout": 0.1,
|
| 153 |
+
"block_output_dropout": 0.1,
|
| 154 |
+
"sinusoidal_embedding": false,
|
| 155 |
+
"activation": "gelu",
|
| 156 |
+
"supervise_all_steps": false,
|
| 157 |
+
"nn_parameter_for_timesteps": true
|
| 158 |
+
}
|
| 159 |
+
},
|
| 160 |
+
"observation": {
|
| 161 |
+
"modalities": {
|
| 162 |
+
"obs": {
|
| 163 |
+
"low_dim": [
|
| 164 |
+
"robot0_eef_pos",
|
| 165 |
+
"robot0_eef_quat",
|
| 166 |
+
"robot0_gripper_qpos"
|
| 167 |
+
],
|
| 168 |
+
"rgb": [
|
| 169 |
+
"agentview_image",
|
| 170 |
+
"robot0_eye_in_hand_image"
|
| 171 |
+
],
|
| 172 |
+
"depth": [],
|
| 173 |
+
"scan": []
|
| 174 |
+
},
|
| 175 |
+
"goal": {
|
| 176 |
+
"low_dim": [],
|
| 177 |
+
"rgb": [],
|
| 178 |
+
"depth": [],
|
| 179 |
+
"scan": []
|
| 180 |
+
}
|
| 181 |
+
},
|
| 182 |
+
"encoder": {
|
| 183 |
+
"low_dim": {
|
| 184 |
+
"core_class": null,
|
| 185 |
+
"core_kwargs": {},
|
| 186 |
+
"obs_randomizer_class": null,
|
| 187 |
+
"obs_randomizer_kwargs": {}
|
| 188 |
+
},
|
| 189 |
+
"rgb": {
|
| 190 |
+
"core_class": "VisualCore",
|
| 191 |
+
"core_kwargs": {
|
| 192 |
+
"feature_dimension": 64,
|
| 193 |
+
"flatten": true,
|
| 194 |
+
"backbone_class": "ResNet18Conv",
|
| 195 |
+
"backbone_kwargs": {
|
| 196 |
+
"pretrained": false,
|
| 197 |
+
"input_coord_conv": false
|
| 198 |
+
},
|
| 199 |
+
"pool_class": "SpatialSoftmax",
|
| 200 |
+
"pool_kwargs": {
|
| 201 |
+
"num_kp": 32,
|
| 202 |
+
"learnable_temperature": false,
|
| 203 |
+
"temperature": 1.0,
|
| 204 |
+
"noise_std": 0.0,
|
| 205 |
+
"output_variance": false
|
| 206 |
+
}
|
| 207 |
+
},
|
| 208 |
+
"obs_randomizer_class": "CropRandomizer",
|
| 209 |
+
"obs_randomizer_kwargs": {
|
| 210 |
+
"crop_height": 76,
|
| 211 |
+
"crop_width": 76,
|
| 212 |
+
"num_crops": 1,
|
| 213 |
+
"pos_enc": false
|
| 214 |
+
}
|
| 215 |
+
},
|
| 216 |
+
"depth": {
|
| 217 |
+
"core_class": "VisualCore",
|
| 218 |
+
"core_kwargs": {},
|
| 219 |
+
"obs_randomizer_class": null,
|
| 220 |
+
"obs_randomizer_kwargs": {}
|
| 221 |
+
},
|
| 222 |
+
"scan": {
|
| 223 |
+
"core_class": "ScanCore",
|
| 224 |
+
"core_kwargs": {},
|
| 225 |
+
"obs_randomizer_class": null,
|
| 226 |
+
"obs_randomizer_kwargs": {}
|
| 227 |
+
}
|
| 228 |
+
}
|
| 229 |
+
},
|
| 230 |
+
"meta": {
|
| 231 |
+
"hp_base_config_file": "/tmp/core_train_configs/bc.json",
|
| 232 |
+
"hp_keys": [
|
| 233 |
+
"ds",
|
| 234 |
+
"seed"
|
| 235 |
+
],
|
| 236 |
+
"hp_values": [
|
| 237 |
+
"stack_D0",
|
| 238 |
+
101
|
| 239 |
+
]
|
| 240 |
+
}
|
| 241 |
+
}
|
data_files/core_train_configs/bc_rnn_image_ds_stack_D1_seed_101.json
ADDED
|
@@ -0,0 +1,241 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
|
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|
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|
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|
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|
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|
|
|
| 1 |
+
{
|
| 2 |
+
"algo_name": "bc",
|
| 3 |
+
"experiment": {
|
| 4 |
+
"name": "bc_rnn_image_ds_stack_D1_seed_101",
|
| 5 |
+
"validate": false,
|
| 6 |
+
"logging": {
|
| 7 |
+
"terminal_output_to_txt": true,
|
| 8 |
+
"log_tb": true,
|
| 9 |
+
"log_wandb": false,
|
| 10 |
+
"wandb_proj_name": "debug"
|
| 11 |
+
},
|
| 12 |
+
"save": {
|
| 13 |
+
"enabled": true,
|
| 14 |
+
"every_n_seconds": null,
|
| 15 |
+
"every_n_epochs": 20,
|
| 16 |
+
"epochs": [],
|
| 17 |
+
"on_best_validation": false,
|
| 18 |
+
"on_best_rollout_return": false,
|
| 19 |
+
"on_best_rollout_success_rate": true
|
| 20 |
+
},
|
| 21 |
+
"epoch_every_n_steps": 500,
|
| 22 |
+
"validation_epoch_every_n_steps": 50,
|
| 23 |
+
"env": null,
|
| 24 |
+
"additional_envs": null,
|
| 25 |
+
"render": false,
|
| 26 |
+
"render_video": true,
|
| 27 |
+
"keep_all_videos": false,
|
| 28 |
+
"video_skip": 5,
|
| 29 |
+
"rollout": {
|
| 30 |
+
"enabled": true,
|
| 31 |
+
"n": 50,
|
| 32 |
+
"horizon": 400,
|
| 33 |
+
"rate": 20,
|
| 34 |
+
"warmstart": 0,
|
| 35 |
+
"terminate_on_success": true
|
| 36 |
+
}
|
| 37 |
+
},
|
| 38 |
+
"train": {
|
| 39 |
+
"data": "/tmp/core_datasets/stack/demo_src_stack_task_D1/demo.hdf5",
|
| 40 |
+
"output_dir": "/tmp/core_training_results",
|
| 41 |
+
"num_data_workers": 4,
|
| 42 |
+
"hdf5_cache_mode": "low_dim",
|
| 43 |
+
"hdf5_use_swmr": true,
|
| 44 |
+
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|
| 45 |
+
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|
| 46 |
+
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|
| 47 |
+
"hdf5_validation_filter_key": null,
|
| 48 |
+
"seq_length": 10,
|
| 49 |
+
"pad_seq_length": true,
|
| 50 |
+
"frame_stack": 1,
|
| 51 |
+
"pad_frame_stack": true,
|
| 52 |
+
"dataset_keys": [
|
| 53 |
+
"actions",
|
| 54 |
+
"rewards",
|
| 55 |
+
"dones"
|
| 56 |
+
],
|
| 57 |
+
"goal_mode": null,
|
| 58 |
+
"cuda": true,
|
| 59 |
+
"batch_size": 16,
|
| 60 |
+
"num_epochs": 600,
|
| 61 |
+
"seed": 101
|
| 62 |
+
},
|
| 63 |
+
"algo": {
|
| 64 |
+
"optim_params": {
|
| 65 |
+
"policy": {
|
| 66 |
+
"optimizer_type": "adam",
|
| 67 |
+
"learning_rate": {
|
| 68 |
+
"initial": 0.0001,
|
| 69 |
+
"decay_factor": 0.1,
|
| 70 |
+
"epoch_schedule": [],
|
| 71 |
+
"scheduler_type": "multistep"
|
| 72 |
+
},
|
| 73 |
+
"regularization": {
|
| 74 |
+
"L2": 0.0
|
| 75 |
+
}
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"loss": {
|
| 79 |
+
"l2_weight": 1.0,
|
| 80 |
+
"l1_weight": 0.0,
|
| 81 |
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"cos_weight": 0.0
|
| 82 |
+
},
|
| 83 |
+
"actor_layer_dims": [],
|
| 84 |
+
"gaussian": {
|
| 85 |
+
"enabled": false,
|
| 86 |
+
"fixed_std": false,
|
| 87 |
+
"init_std": 0.1,
|
| 88 |
+
"min_std": 0.01,
|
| 89 |
+
"std_activation": "softplus",
|
| 90 |
+
"low_noise_eval": true
|
| 91 |
+
},
|
| 92 |
+
"gmm": {
|
| 93 |
+
"enabled": true,
|
| 94 |
+
"num_modes": 5,
|
| 95 |
+
"min_std": 0.0001,
|
| 96 |
+
"std_activation": "softplus",
|
| 97 |
+
"low_noise_eval": true
|
| 98 |
+
},
|
| 99 |
+
"vae": {
|
| 100 |
+
"enabled": false,
|
| 101 |
+
"latent_dim": 14,
|
| 102 |
+
"latent_clip": null,
|
| 103 |
+
"kl_weight": 1.0,
|
| 104 |
+
"decoder": {
|
| 105 |
+
"is_conditioned": true,
|
| 106 |
+
"reconstruction_sum_across_elements": false
|
| 107 |
+
},
|
| 108 |
+
"prior": {
|
| 109 |
+
"learn": false,
|
| 110 |
+
"is_conditioned": false,
|
| 111 |
+
"use_gmm": false,
|
| 112 |
+
"gmm_num_modes": 10,
|
| 113 |
+
"gmm_learn_weights": false,
|
| 114 |
+
"use_categorical": false,
|
| 115 |
+
"categorical_dim": 10,
|
| 116 |
+
"categorical_gumbel_softmax_hard": false,
|
| 117 |
+
"categorical_init_temp": 1.0,
|
| 118 |
+
"categorical_temp_anneal_step": 0.001,
|
| 119 |
+
"categorical_min_temp": 0.3
|
| 120 |
+
},
|
| 121 |
+
"encoder_layer_dims": [
|
| 122 |
+
300,
|
| 123 |
+
400
|
| 124 |
+
],
|
| 125 |
+
"decoder_layer_dims": [
|
| 126 |
+
300,
|
| 127 |
+
400
|
| 128 |
+
],
|
| 129 |
+
"prior_layer_dims": [
|
| 130 |
+
300,
|
| 131 |
+
400
|
| 132 |
+
]
|
| 133 |
+
},
|
| 134 |
+
"rnn": {
|
| 135 |
+
"enabled": true,
|
| 136 |
+
"horizon": 10,
|
| 137 |
+
"hidden_dim": 1000,
|
| 138 |
+
"rnn_type": "LSTM",
|
| 139 |
+
"num_layers": 2,
|
| 140 |
+
"open_loop": false,
|
| 141 |
+
"kwargs": {
|
| 142 |
+
"bidirectional": false
|
| 143 |
+
}
|
| 144 |
+
},
|
| 145 |
+
"transformer": {
|
| 146 |
+
"enabled": false,
|
| 147 |
+
"context_length": 10,
|
| 148 |
+
"embed_dim": 512,
|
| 149 |
+
"num_layers": 6,
|
| 150 |
+
"num_heads": 8,
|
| 151 |
+
"emb_dropout": 0.1,
|
| 152 |
+
"attn_dropout": 0.1,
|
| 153 |
+
"block_output_dropout": 0.1,
|
| 154 |
+
"sinusoidal_embedding": false,
|
| 155 |
+
"activation": "gelu",
|
| 156 |
+
"supervise_all_steps": false,
|
| 157 |
+
"nn_parameter_for_timesteps": true
|
| 158 |
+
}
|
| 159 |
+
},
|
| 160 |
+
"observation": {
|
| 161 |
+
"modalities": {
|
| 162 |
+
"obs": {
|
| 163 |
+
"low_dim": [
|
| 164 |
+
"robot0_eef_pos",
|
| 165 |
+
"robot0_eef_quat",
|
| 166 |
+
"robot0_gripper_qpos"
|
| 167 |
+
],
|
| 168 |
+
"rgb": [
|
| 169 |
+
"agentview_image",
|
| 170 |
+
"robot0_eye_in_hand_image"
|
| 171 |
+
],
|
| 172 |
+
"depth": [],
|
| 173 |
+
"scan": []
|
| 174 |
+
},
|
| 175 |
+
"goal": {
|
| 176 |
+
"low_dim": [],
|
| 177 |
+
"rgb": [],
|
| 178 |
+
"depth": [],
|
| 179 |
+
"scan": []
|
| 180 |
+
}
|
| 181 |
+
},
|
| 182 |
+
"encoder": {
|
| 183 |
+
"low_dim": {
|
| 184 |
+
"core_class": null,
|
| 185 |
+
"core_kwargs": {},
|
| 186 |
+
"obs_randomizer_class": null,
|
| 187 |
+
"obs_randomizer_kwargs": {}
|
| 188 |
+
},
|
| 189 |
+
"rgb": {
|
| 190 |
+
"core_class": "VisualCore",
|
| 191 |
+
"core_kwargs": {
|
| 192 |
+
"feature_dimension": 64,
|
| 193 |
+
"flatten": true,
|
| 194 |
+
"backbone_class": "ResNet18Conv",
|
| 195 |
+
"backbone_kwargs": {
|
| 196 |
+
"pretrained": false,
|
| 197 |
+
"input_coord_conv": false
|
| 198 |
+
},
|
| 199 |
+
"pool_class": "SpatialSoftmax",
|
| 200 |
+
"pool_kwargs": {
|
| 201 |
+
"num_kp": 32,
|
| 202 |
+
"learnable_temperature": false,
|
| 203 |
+
"temperature": 1.0,
|
| 204 |
+
"noise_std": 0.0,
|
| 205 |
+
"output_variance": false
|
| 206 |
+
}
|
| 207 |
+
},
|
| 208 |
+
"obs_randomizer_class": "CropRandomizer",
|
| 209 |
+
"obs_randomizer_kwargs": {
|
| 210 |
+
"crop_height": 76,
|
| 211 |
+
"crop_width": 76,
|
| 212 |
+
"num_crops": 1,
|
| 213 |
+
"pos_enc": false
|
| 214 |
+
}
|
| 215 |
+
},
|
| 216 |
+
"depth": {
|
| 217 |
+
"core_class": "VisualCore",
|
| 218 |
+
"core_kwargs": {},
|
| 219 |
+
"obs_randomizer_class": null,
|
| 220 |
+
"obs_randomizer_kwargs": {}
|
| 221 |
+
},
|
| 222 |
+
"scan": {
|
| 223 |
+
"core_class": "ScanCore",
|
| 224 |
+
"core_kwargs": {},
|
| 225 |
+
"obs_randomizer_class": null,
|
| 226 |
+
"obs_randomizer_kwargs": {}
|
| 227 |
+
}
|
| 228 |
+
}
|
| 229 |
+
},
|
| 230 |
+
"meta": {
|
| 231 |
+
"hp_base_config_file": "/tmp/core_train_configs/bc.json",
|
| 232 |
+
"hp_keys": [
|
| 233 |
+
"ds",
|
| 234 |
+
"seed"
|
| 235 |
+
],
|
| 236 |
+
"hp_values": [
|
| 237 |
+
"stack_D1",
|
| 238 |
+
101
|
| 239 |
+
]
|
| 240 |
+
}
|
| 241 |
+
}
|
data_files/core_train_configs/bc_rnn_image_ds_stack_three_D0_seed_101.json
ADDED
|
@@ -0,0 +1,241 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
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|
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|
|
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|
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|
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|
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
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{
|
| 2 |
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|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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| 44 |
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| 45 |
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| 46 |
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| 47 |
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| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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|
| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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| 116 |
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|
| 117 |
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|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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"rnn_type": "LSTM",
|
| 139 |
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|
| 140 |
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|
| 141 |
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"kwargs": {
|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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| 154 |
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|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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"robot0_eef_quat",
|
| 166 |
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"robot0_gripper_qpos"
|
| 167 |
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],
|
| 168 |
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"rgb": [
|
| 169 |
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"agentview_image",
|
| 170 |
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"robot0_eye_in_hand_image"
|
| 171 |
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|
| 172 |
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|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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|
| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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|
| 189 |
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"rgb": {
|
| 190 |
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"core_class": "VisualCore",
|
| 191 |
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"core_kwargs": {
|
| 192 |
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"feature_dimension": 64,
|
| 193 |
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"flatten": true,
|
| 194 |
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"backbone_class": "ResNet18Conv",
|
| 195 |
+
"backbone_kwargs": {
|
| 196 |
+
"pretrained": false,
|
| 197 |
+
"input_coord_conv": false
|
| 198 |
+
},
|
| 199 |
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"pool_class": "SpatialSoftmax",
|
| 200 |
+
"pool_kwargs": {
|
| 201 |
+
"num_kp": 32,
|
| 202 |
+
"learnable_temperature": false,
|
| 203 |
+
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|
| 204 |
+
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|
| 205 |
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|
| 206 |
+
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|
| 207 |
+
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|
| 208 |
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|
| 209 |
+
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|
| 210 |
+
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|
| 211 |
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|
| 212 |
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|
| 213 |
+
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|
| 214 |
+
}
|
| 215 |
+
},
|
| 216 |
+
"depth": {
|
| 217 |
+
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|
| 218 |
+
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|
| 219 |
+
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|
| 220 |
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|
| 221 |
+
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|
| 222 |
+
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|
| 223 |
+
"core_class": "ScanCore",
|
| 224 |
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|
| 225 |
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|
| 226 |
+
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|
| 227 |
+
}
|
| 228 |
+
}
|
| 229 |
+
},
|
| 230 |
+
"meta": {
|
| 231 |
+
"hp_base_config_file": "/tmp/core_train_configs/bc.json",
|
| 232 |
+
"hp_keys": [
|
| 233 |
+
"ds",
|
| 234 |
+
"seed"
|
| 235 |
+
],
|
| 236 |
+
"hp_values": [
|
| 237 |
+
"stack_three_D0",
|
| 238 |
+
101
|
| 239 |
+
]
|
| 240 |
+
}
|
| 241 |
+
}
|
data_files/core_train_configs/bc_rnn_image_ds_stack_three_D1_seed_101.json
ADDED
|
@@ -0,0 +1,241 @@
|
|
|
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|
|
|
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|
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|
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|
|
|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"algo_name": "bc",
|
| 3 |
+
"experiment": {
|
| 4 |
+
"name": "bc_rnn_image_ds_stack_three_D1_seed_101",
|
| 5 |
+
"validate": false,
|
| 6 |
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"logging": {
|
| 7 |
+
"terminal_output_to_txt": true,
|
| 8 |
+
"log_tb": true,
|
| 9 |
+
"log_wandb": false,
|
| 10 |
+
"wandb_proj_name": "debug"
|
| 11 |
+
},
|
| 12 |
+
"save": {
|
| 13 |
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"enabled": true,
|
| 14 |
+
"every_n_seconds": null,
|
| 15 |
+
"every_n_epochs": 20,
|
| 16 |
+
"epochs": [],
|
| 17 |
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"on_best_validation": false,
|
| 18 |
+
"on_best_rollout_return": false,
|
| 19 |
+
"on_best_rollout_success_rate": true
|
| 20 |
+
},
|
| 21 |
+
"epoch_every_n_steps": 500,
|
| 22 |
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"validation_epoch_every_n_steps": 50,
|
| 23 |
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"env": null,
|
| 24 |
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|
| 25 |
+
"render": false,
|
| 26 |
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"render_video": true,
|
| 27 |
+
"keep_all_videos": false,
|
| 28 |
+
"video_skip": 5,
|
| 29 |
+
"rollout": {
|
| 30 |
+
"enabled": true,
|
| 31 |
+
"n": 50,
|
| 32 |
+
"horizon": 400,
|
| 33 |
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"rate": 20,
|
| 34 |
+
"warmstart": 0,
|
| 35 |
+
"terminate_on_success": true
|
| 36 |
+
}
|
| 37 |
+
},
|
| 38 |
+
"train": {
|
| 39 |
+
"data": "/tmp/core_datasets/stack_three/demo_src_stack_three_task_D1/demo.hdf5",
|
| 40 |
+
"output_dir": "/tmp/core_training_results",
|
| 41 |
+
"num_data_workers": 4,
|
| 42 |
+
"hdf5_cache_mode": "low_dim",
|
| 43 |
+
"hdf5_use_swmr": true,
|
| 44 |
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| 131 |
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|
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| 134 |
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|
| 135 |
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|
| 136 |
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|
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|
| 138 |
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|
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|
| 140 |
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|
| 141 |
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|
| 142 |
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|
| 143 |
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|
| 144 |
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| 145 |
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| 146 |
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|
| 147 |
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| 158 |
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| 159 |
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| 160 |
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| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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| 166 |
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|
| 167 |
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|
| 168 |
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|
| 169 |
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|
| 170 |
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|
| 171 |
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| 172 |
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|
| 173 |
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|
| 174 |
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| 175 |
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| 176 |
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| 177 |
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| 178 |
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| 179 |
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| 180 |
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| 181 |
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| 182 |
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| 183 |
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| 184 |
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| 185 |
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| 186 |
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|
| 187 |
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|
| 188 |
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| 189 |
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|
| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
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|
| 196 |
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|
| 197 |
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|
| 198 |
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|
| 199 |
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|
| 200 |
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|
| 201 |
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|
| 202 |
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|
| 203 |
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|
| 204 |
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|
| 205 |
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|
| 206 |
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|
| 207 |
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|
| 208 |
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|
| 209 |
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|
| 210 |
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|
| 211 |
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|
| 212 |
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|
| 213 |
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|
| 214 |
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|
| 215 |
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|
| 216 |
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"depth": {
|
| 217 |
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|
| 218 |
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|
| 219 |
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|
| 220 |
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|
| 221 |
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|
| 222 |
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|
| 223 |
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|
| 224 |
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|
| 225 |
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|
| 226 |
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|
| 227 |
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|
| 228 |
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}
|
| 229 |
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},
|
| 230 |
+
"meta": {
|
| 231 |
+
"hp_base_config_file": "/tmp/core_train_configs/bc.json",
|
| 232 |
+
"hp_keys": [
|
| 233 |
+
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|
| 234 |
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|
| 235 |
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|
| 236 |
+
"hp_values": [
|
| 237 |
+
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|
| 238 |
+
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|
| 239 |
+
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|
| 240 |
+
}
|
| 241 |
+
}
|
data_files/core_train_configs/bc_rnn_image_ds_threading_D0_seed_101.json
ADDED
|
@@ -0,0 +1,241 @@
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
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"algo_name": "bc",
|
| 3 |
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|
| 4 |
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|
| 5 |
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"validate": false,
|
| 6 |
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|
| 7 |
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"terminal_output_to_txt": true,
|
| 8 |
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|
| 9 |
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|
| 10 |
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"wandb_proj_name": "debug"
|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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}
|
| 37 |
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},
|
| 38 |
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"train": {
|
| 39 |
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"data": "/tmp/core_datasets/threading/demo_src_threading_task_D0/demo.hdf5",
|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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| 45 |
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| 50 |
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| 51 |
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| 52 |
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| 53 |
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| 54 |
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| 55 |
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| 58 |
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| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
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|
| 68 |
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|
| 69 |
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|
| 70 |
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|
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|
| 72 |
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| 73 |
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|
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| 76 |
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| 77 |
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| 78 |
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| 79 |
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| 82 |
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| 84 |
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| 87 |
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| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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| 92 |
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|
| 93 |
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|
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|
| 96 |
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|
| 97 |
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|
| 98 |
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| 99 |
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|
| 100 |
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|
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|
| 103 |
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|
| 104 |
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|
| 105 |
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|
| 106 |
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|
| 107 |
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|
| 108 |
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"prior": {
|
| 109 |
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"learn": false,
|
| 110 |
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|
| 111 |
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"use_gmm": false,
|
| 112 |
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"gmm_num_modes": 10,
|
| 113 |
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"gmm_learn_weights": false,
|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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400
|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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400
|
| 128 |
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|
| 129 |
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"prior_layer_dims": [
|
| 130 |
+
300,
|
| 131 |
+
400
|
| 132 |
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|
| 133 |
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|
| 134 |
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"rnn": {
|
| 135 |
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"enabled": true,
|
| 136 |
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"horizon": 10,
|
| 137 |
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"hidden_dim": 1000,
|
| 138 |
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"rnn_type": "LSTM",
|
| 139 |
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|
| 140 |
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"open_loop": false,
|
| 141 |
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"kwargs": {
|
| 142 |
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"bidirectional": false
|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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|
| 154 |
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|
| 155 |
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"activation": "gelu",
|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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|
| 167 |
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|
| 168 |
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"rgb": [
|
| 169 |
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"agentview_image",
|
| 170 |
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"robot0_eye_in_hand_image"
|
| 171 |
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|
| 172 |
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"depth": [],
|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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|
| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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|
| 189 |
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"rgb": {
|
| 190 |
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"core_class": "VisualCore",
|
| 191 |
+
"core_kwargs": {
|
| 192 |
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"feature_dimension": 64,
|
| 193 |
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"flatten": true,
|
| 194 |
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"backbone_class": "ResNet18Conv",
|
| 195 |
+
"backbone_kwargs": {
|
| 196 |
+
"pretrained": false,
|
| 197 |
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"input_coord_conv": false
|
| 198 |
+
},
|
| 199 |
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"pool_class": "SpatialSoftmax",
|
| 200 |
+
"pool_kwargs": {
|
| 201 |
+
"num_kp": 32,
|
| 202 |
+
"learnable_temperature": false,
|
| 203 |
+
"temperature": 1.0,
|
| 204 |
+
"noise_std": 0.0,
|
| 205 |
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"output_variance": false
|
| 206 |
+
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|
| 207 |
+
},
|
| 208 |
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"obs_randomizer_class": "CropRandomizer",
|
| 209 |
+
"obs_randomizer_kwargs": {
|
| 210 |
+
"crop_height": 76,
|
| 211 |
+
"crop_width": 76,
|
| 212 |
+
"num_crops": 1,
|
| 213 |
+
"pos_enc": false
|
| 214 |
+
}
|
| 215 |
+
},
|
| 216 |
+
"depth": {
|
| 217 |
+
"core_class": "VisualCore",
|
| 218 |
+
"core_kwargs": {},
|
| 219 |
+
"obs_randomizer_class": null,
|
| 220 |
+
"obs_randomizer_kwargs": {}
|
| 221 |
+
},
|
| 222 |
+
"scan": {
|
| 223 |
+
"core_class": "ScanCore",
|
| 224 |
+
"core_kwargs": {},
|
| 225 |
+
"obs_randomizer_class": null,
|
| 226 |
+
"obs_randomizer_kwargs": {}
|
| 227 |
+
}
|
| 228 |
+
}
|
| 229 |
+
},
|
| 230 |
+
"meta": {
|
| 231 |
+
"hp_base_config_file": "/tmp/core_train_configs/bc.json",
|
| 232 |
+
"hp_keys": [
|
| 233 |
+
"ds",
|
| 234 |
+
"seed"
|
| 235 |
+
],
|
| 236 |
+
"hp_values": [
|
| 237 |
+
"threading_D0",
|
| 238 |
+
101
|
| 239 |
+
]
|
| 240 |
+
}
|
| 241 |
+
}
|
data_files/core_train_configs/bc_rnn_image_ds_threading_D1_seed_101.json
ADDED
|
@@ -0,0 +1,241 @@
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|
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|
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|
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|
|
|
|
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|
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|
|
|
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|
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|
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|
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|
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|
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|
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|
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|
|
|
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|
|
|
|
|
|
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|
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|
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|
|
|
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|
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|
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|
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|
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|
|
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|
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|
|
|
|
|
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|
|
|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"algo_name": "bc",
|
| 3 |
+
"experiment": {
|
| 4 |
+
"name": "bc_rnn_image_ds_threading_D1_seed_101",
|
| 5 |
+
"validate": false,
|
| 6 |
+
"logging": {
|
| 7 |
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"terminal_output_to_txt": true,
|
| 8 |
+
"log_tb": true,
|
| 9 |
+
"log_wandb": false,
|
| 10 |
+
"wandb_proj_name": "debug"
|
| 11 |
+
},
|
| 12 |
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"save": {
|
| 13 |
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"enabled": true,
|
| 14 |
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"every_n_seconds": null,
|
| 15 |
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|
| 16 |
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|
| 17 |
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"on_best_validation": false,
|
| 18 |
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"on_best_rollout_return": false,
|
| 19 |
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"on_best_rollout_success_rate": true
|
| 20 |
+
},
|
| 21 |
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"epoch_every_n_steps": 500,
|
| 22 |
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"validation_epoch_every_n_steps": 50,
|
| 23 |
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"env": null,
|
| 24 |
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|
| 25 |
+
"render": false,
|
| 26 |
+
"render_video": true,
|
| 27 |
+
"keep_all_videos": false,
|
| 28 |
+
"video_skip": 5,
|
| 29 |
+
"rollout": {
|
| 30 |
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"enabled": true,
|
| 31 |
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"n": 50,
|
| 32 |
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|
| 33 |
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"rate": 20,
|
| 34 |
+
"warmstart": 0,
|
| 35 |
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"terminate_on_success": true
|
| 36 |
+
}
|
| 37 |
+
},
|
| 38 |
+
"train": {
|
| 39 |
+
"data": "/tmp/core_datasets/threading/demo_src_threading_task_D1/demo.hdf5",
|
| 40 |
+
"output_dir": "/tmp/core_training_results",
|
| 41 |
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"num_data_workers": 4,
|
| 42 |
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"hdf5_cache_mode": "low_dim",
|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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"seq_length": 10,
|
| 49 |
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"pad_seq_length": true,
|
| 50 |
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"frame_stack": 1,
|
| 51 |
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"pad_frame_stack": true,
|
| 52 |
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"dataset_keys": [
|
| 53 |
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"actions",
|
| 54 |
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|
| 55 |
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|
| 56 |
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],
|
| 57 |
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|
| 58 |
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"cuda": true,
|
| 59 |
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"batch_size": 16,
|
| 60 |
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|
| 61 |
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"seed": 101
|
| 62 |
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},
|
| 63 |
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"algo": {
|
| 64 |
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"optim_params": {
|
| 65 |
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"policy": {
|
| 66 |
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"optimizer_type": "adam",
|
| 67 |
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"learning_rate": {
|
| 68 |
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"initial": 0.0001,
|
| 69 |
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|
| 70 |
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|
| 71 |
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"scheduler_type": "multistep"
|
| 72 |
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|
| 73 |
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"regularization": {
|
| 74 |
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"L2": 0.0
|
| 75 |
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}
|
| 76 |
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}
|
| 77 |
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|
| 78 |
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"loss": {
|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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|
| 83 |
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"actor_layer_dims": [],
|
| 84 |
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"gaussian": {
|
| 85 |
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"enabled": false,
|
| 86 |
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|
| 87 |
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"init_std": 0.1,
|
| 88 |
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"min_std": 0.01,
|
| 89 |
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"std_activation": "softplus",
|
| 90 |
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"low_noise_eval": true
|
| 91 |
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},
|
| 92 |
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"gmm": {
|
| 93 |
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"enabled": true,
|
| 94 |
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"num_modes": 5,
|
| 95 |
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"min_std": 0.0001,
|
| 96 |
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"std_activation": "softplus",
|
| 97 |
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|
| 98 |
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|
| 99 |
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"vae": {
|
| 100 |
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"enabled": false,
|
| 101 |
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|
| 102 |
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|
| 103 |
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"kl_weight": 1.0,
|
| 104 |
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"decoder": {
|
| 105 |
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"is_conditioned": true,
|
| 106 |
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"reconstruction_sum_across_elements": false
|
| 107 |
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|
| 108 |
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"prior": {
|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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"kwargs": {
|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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|
| 154 |
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|
| 155 |
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"activation": "gelu",
|
| 156 |
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|
| 157 |
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"nn_parameter_for_timesteps": true
|
| 158 |
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}
|
| 159 |
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},
|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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| 166 |
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|
| 167 |
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],
|
| 168 |
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"rgb": [
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| 169 |
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|
| 170 |
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|
| 171 |
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],
|
| 172 |
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"depth": [],
|
| 173 |
+
"scan": []
|
| 174 |
+
},
|
| 175 |
+
"goal": {
|
| 176 |
+
"low_dim": [],
|
| 177 |
+
"rgb": [],
|
| 178 |
+
"depth": [],
|
| 179 |
+
"scan": []
|
| 180 |
+
}
|
| 181 |
+
},
|
| 182 |
+
"encoder": {
|
| 183 |
+
"low_dim": {
|
| 184 |
+
"core_class": null,
|
| 185 |
+
"core_kwargs": {},
|
| 186 |
+
"obs_randomizer_class": null,
|
| 187 |
+
"obs_randomizer_kwargs": {}
|
| 188 |
+
},
|
| 189 |
+
"rgb": {
|
| 190 |
+
"core_class": "VisualCore",
|
| 191 |
+
"core_kwargs": {
|
| 192 |
+
"feature_dimension": 64,
|
| 193 |
+
"flatten": true,
|
| 194 |
+
"backbone_class": "ResNet18Conv",
|
| 195 |
+
"backbone_kwargs": {
|
| 196 |
+
"pretrained": false,
|
| 197 |
+
"input_coord_conv": false
|
| 198 |
+
},
|
| 199 |
+
"pool_class": "SpatialSoftmax",
|
| 200 |
+
"pool_kwargs": {
|
| 201 |
+
"num_kp": 32,
|
| 202 |
+
"learnable_temperature": false,
|
| 203 |
+
"temperature": 1.0,
|
| 204 |
+
"noise_std": 0.0,
|
| 205 |
+
"output_variance": false
|
| 206 |
+
}
|
| 207 |
+
},
|
| 208 |
+
"obs_randomizer_class": "CropRandomizer",
|
| 209 |
+
"obs_randomizer_kwargs": {
|
| 210 |
+
"crop_height": 76,
|
| 211 |
+
"crop_width": 76,
|
| 212 |
+
"num_crops": 1,
|
| 213 |
+
"pos_enc": false
|
| 214 |
+
}
|
| 215 |
+
},
|
| 216 |
+
"depth": {
|
| 217 |
+
"core_class": "VisualCore",
|
| 218 |
+
"core_kwargs": {},
|
| 219 |
+
"obs_randomizer_class": null,
|
| 220 |
+
"obs_randomizer_kwargs": {}
|
| 221 |
+
},
|
| 222 |
+
"scan": {
|
| 223 |
+
"core_class": "ScanCore",
|
| 224 |
+
"core_kwargs": {},
|
| 225 |
+
"obs_randomizer_class": null,
|
| 226 |
+
"obs_randomizer_kwargs": {}
|
| 227 |
+
}
|
| 228 |
+
}
|
| 229 |
+
},
|
| 230 |
+
"meta": {
|
| 231 |
+
"hp_base_config_file": "/tmp/core_train_configs/bc.json",
|
| 232 |
+
"hp_keys": [
|
| 233 |
+
"ds",
|
| 234 |
+
"seed"
|
| 235 |
+
],
|
| 236 |
+
"hp_values": [
|
| 237 |
+
"threading_D1",
|
| 238 |
+
101
|
| 239 |
+
]
|
| 240 |
+
}
|
| 241 |
+
}
|
data_files/core_train_configs/bc_rnn_image_ds_threading_D2_seed_101.json
ADDED
|
@@ -0,0 +1,241 @@
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
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|
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|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"algo_name": "bc",
|
| 3 |
+
"experiment": {
|
| 4 |
+
"name": "bc_rnn_image_ds_threading_D2_seed_101",
|
| 5 |
+
"validate": false,
|
| 6 |
+
"logging": {
|
| 7 |
+
"terminal_output_to_txt": true,
|
| 8 |
+
"log_tb": true,
|
| 9 |
+
"log_wandb": false,
|
| 10 |
+
"wandb_proj_name": "debug"
|
| 11 |
+
},
|
| 12 |
+
"save": {
|
| 13 |
+
"enabled": true,
|
| 14 |
+
"every_n_seconds": null,
|
| 15 |
+
"every_n_epochs": 20,
|
| 16 |
+
"epochs": [],
|
| 17 |
+
"on_best_validation": false,
|
| 18 |
+
"on_best_rollout_return": false,
|
| 19 |
+
"on_best_rollout_success_rate": true
|
| 20 |
+
},
|
| 21 |
+
"epoch_every_n_steps": 500,
|
| 22 |
+
"validation_epoch_every_n_steps": 50,
|
| 23 |
+
"env": null,
|
| 24 |
+
"additional_envs": null,
|
| 25 |
+
"render": false,
|
| 26 |
+
"render_video": true,
|
| 27 |
+
"keep_all_videos": false,
|
| 28 |
+
"video_skip": 5,
|
| 29 |
+
"rollout": {
|
| 30 |
+
"enabled": true,
|
| 31 |
+
"n": 50,
|
| 32 |
+
"horizon": 400,
|
| 33 |
+
"rate": 20,
|
| 34 |
+
"warmstart": 0,
|
| 35 |
+
"terminate_on_success": true
|
| 36 |
+
}
|
| 37 |
+
},
|
| 38 |
+
"train": {
|
| 39 |
+
"data": "/tmp/core_datasets/threading/demo_src_threading_task_D2/demo.hdf5",
|
| 40 |
+
"output_dir": "/tmp/core_training_results",
|
| 41 |
+
"num_data_workers": 4,
|
| 42 |
+
"hdf5_cache_mode": "low_dim",
|
| 43 |
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"hdf5_use_swmr": true,
|
| 44 |
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"hdf5_load_next_obs": false,
|
| 45 |
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"hdf5_normalize_obs": false,
|
| 46 |
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"hdf5_filter_key": null,
|
| 47 |
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"hdf5_validation_filter_key": null,
|
| 48 |
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"seq_length": 10,
|
| 49 |
+
"pad_seq_length": true,
|
| 50 |
+
"frame_stack": 1,
|
| 51 |
+
"pad_frame_stack": true,
|
| 52 |
+
"dataset_keys": [
|
| 53 |
+
"actions",
|
| 54 |
+
"rewards",
|
| 55 |
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"dones"
|
| 56 |
+
],
|
| 57 |
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"goal_mode": null,
|
| 58 |
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"cuda": true,
|
| 59 |
+
"batch_size": 16,
|
| 60 |
+
"num_epochs": 600,
|
| 61 |
+
"seed": 101
|
| 62 |
+
},
|
| 63 |
+
"algo": {
|
| 64 |
+
"optim_params": {
|
| 65 |
+
"policy": {
|
| 66 |
+
"optimizer_type": "adam",
|
| 67 |
+
"learning_rate": {
|
| 68 |
+
"initial": 0.0001,
|
| 69 |
+
"decay_factor": 0.1,
|
| 70 |
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"epoch_schedule": [],
|
| 71 |
+
"scheduler_type": "multistep"
|
| 72 |
+
},
|
| 73 |
+
"regularization": {
|
| 74 |
+
"L2": 0.0
|
| 75 |
+
}
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"loss": {
|
| 79 |
+
"l2_weight": 1.0,
|
| 80 |
+
"l1_weight": 0.0,
|
| 81 |
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"cos_weight": 0.0
|
| 82 |
+
},
|
| 83 |
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"actor_layer_dims": [],
|
| 84 |
+
"gaussian": {
|
| 85 |
+
"enabled": false,
|
| 86 |
+
"fixed_std": false,
|
| 87 |
+
"init_std": 0.1,
|
| 88 |
+
"min_std": 0.01,
|
| 89 |
+
"std_activation": "softplus",
|
| 90 |
+
"low_noise_eval": true
|
| 91 |
+
},
|
| 92 |
+
"gmm": {
|
| 93 |
+
"enabled": true,
|
| 94 |
+
"num_modes": 5,
|
| 95 |
+
"min_std": 0.0001,
|
| 96 |
+
"std_activation": "softplus",
|
| 97 |
+
"low_noise_eval": true
|
| 98 |
+
},
|
| 99 |
+
"vae": {
|
| 100 |
+
"enabled": false,
|
| 101 |
+
"latent_dim": 14,
|
| 102 |
+
"latent_clip": null,
|
| 103 |
+
"kl_weight": 1.0,
|
| 104 |
+
"decoder": {
|
| 105 |
+
"is_conditioned": true,
|
| 106 |
+
"reconstruction_sum_across_elements": false
|
| 107 |
+
},
|
| 108 |
+
"prior": {
|
| 109 |
+
"learn": false,
|
| 110 |
+
"is_conditioned": false,
|
| 111 |
+
"use_gmm": false,
|
| 112 |
+
"gmm_num_modes": 10,
|
| 113 |
+
"gmm_learn_weights": false,
|
| 114 |
+
"use_categorical": false,
|
| 115 |
+
"categorical_dim": 10,
|
| 116 |
+
"categorical_gumbel_softmax_hard": false,
|
| 117 |
+
"categorical_init_temp": 1.0,
|
| 118 |
+
"categorical_temp_anneal_step": 0.001,
|
| 119 |
+
"categorical_min_temp": 0.3
|
| 120 |
+
},
|
| 121 |
+
"encoder_layer_dims": [
|
| 122 |
+
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|
| 123 |
+
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|
| 124 |
+
],
|
| 125 |
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"decoder_layer_dims": [
|
| 126 |
+
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|
| 127 |
+
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|
| 128 |
+
],
|
| 129 |
+
"prior_layer_dims": [
|
| 130 |
+
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|
| 131 |
+
400
|
| 132 |
+
]
|
| 133 |
+
},
|
| 134 |
+
"rnn": {
|
| 135 |
+
"enabled": true,
|
| 136 |
+
"horizon": 10,
|
| 137 |
+
"hidden_dim": 1000,
|
| 138 |
+
"rnn_type": "LSTM",
|
| 139 |
+
"num_layers": 2,
|
| 140 |
+
"open_loop": false,
|
| 141 |
+
"kwargs": {
|
| 142 |
+
"bidirectional": false
|
| 143 |
+
}
|
| 144 |
+
},
|
| 145 |
+
"transformer": {
|
| 146 |
+
"enabled": false,
|
| 147 |
+
"context_length": 10,
|
| 148 |
+
"embed_dim": 512,
|
| 149 |
+
"num_layers": 6,
|
| 150 |
+
"num_heads": 8,
|
| 151 |
+
"emb_dropout": 0.1,
|
| 152 |
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"attn_dropout": 0.1,
|
| 153 |
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"block_output_dropout": 0.1,
|
| 154 |
+
"sinusoidal_embedding": false,
|
| 155 |
+
"activation": "gelu",
|
| 156 |
+
"supervise_all_steps": false,
|
| 157 |
+
"nn_parameter_for_timesteps": true
|
| 158 |
+
}
|
| 159 |
+
},
|
| 160 |
+
"observation": {
|
| 161 |
+
"modalities": {
|
| 162 |
+
"obs": {
|
| 163 |
+
"low_dim": [
|
| 164 |
+
"robot0_eef_pos",
|
| 165 |
+
"robot0_eef_quat",
|
| 166 |
+
"robot0_gripper_qpos"
|
| 167 |
+
],
|
| 168 |
+
"rgb": [
|
| 169 |
+
"agentview_image",
|
| 170 |
+
"robot0_eye_in_hand_image"
|
| 171 |
+
],
|
| 172 |
+
"depth": [],
|
| 173 |
+
"scan": []
|
| 174 |
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},
|
| 175 |
+
"goal": {
|
| 176 |
+
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|
| 177 |
+
"rgb": [],
|
| 178 |
+
"depth": [],
|
| 179 |
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"scan": []
|
| 180 |
+
}
|
| 181 |
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},
|
| 182 |
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"encoder": {
|
| 183 |
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"low_dim": {
|
| 184 |
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"core_class": null,
|
| 185 |
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"core_kwargs": {},
|
| 186 |
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|
| 187 |
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|
| 188 |
+
},
|
| 189 |
+
"rgb": {
|
| 190 |
+
"core_class": "VisualCore",
|
| 191 |
+
"core_kwargs": {
|
| 192 |
+
"feature_dimension": 64,
|
| 193 |
+
"flatten": true,
|
| 194 |
+
"backbone_class": "ResNet18Conv",
|
| 195 |
+
"backbone_kwargs": {
|
| 196 |
+
"pretrained": false,
|
| 197 |
+
"input_coord_conv": false
|
| 198 |
+
},
|
| 199 |
+
"pool_class": "SpatialSoftmax",
|
| 200 |
+
"pool_kwargs": {
|
| 201 |
+
"num_kp": 32,
|
| 202 |
+
"learnable_temperature": false,
|
| 203 |
+
"temperature": 1.0,
|
| 204 |
+
"noise_std": 0.0,
|
| 205 |
+
"output_variance": false
|
| 206 |
+
}
|
| 207 |
+
},
|
| 208 |
+
"obs_randomizer_class": "CropRandomizer",
|
| 209 |
+
"obs_randomizer_kwargs": {
|
| 210 |
+
"crop_height": 76,
|
| 211 |
+
"crop_width": 76,
|
| 212 |
+
"num_crops": 1,
|
| 213 |
+
"pos_enc": false
|
| 214 |
+
}
|
| 215 |
+
},
|
| 216 |
+
"depth": {
|
| 217 |
+
"core_class": "VisualCore",
|
| 218 |
+
"core_kwargs": {},
|
| 219 |
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|
| 220 |
+
"obs_randomizer_kwargs": {}
|
| 221 |
+
},
|
| 222 |
+
"scan": {
|
| 223 |
+
"core_class": "ScanCore",
|
| 224 |
+
"core_kwargs": {},
|
| 225 |
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|
| 226 |
+
"obs_randomizer_kwargs": {}
|
| 227 |
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}
|
| 228 |
+
}
|
| 229 |
+
},
|
| 230 |
+
"meta": {
|
| 231 |
+
"hp_base_config_file": "/tmp/core_train_configs/bc.json",
|
| 232 |
+
"hp_keys": [
|
| 233 |
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"ds",
|
| 234 |
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|
| 235 |
+
],
|
| 236 |
+
"hp_values": [
|
| 237 |
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"threading_D2",
|
| 238 |
+
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|
| 239 |
+
]
|
| 240 |
+
}
|
| 241 |
+
}
|
data_files/core_train_configs/bc_rnn_image_ds_three_piece_assembly_D0_seed_101.json
ADDED
|
@@ -0,0 +1,241 @@
|
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|
| 1 |
+
{
|
| 2 |
+
"algo_name": "bc",
|
| 3 |
+
"experiment": {
|
| 4 |
+
"name": "bc_rnn_image_ds_three_piece_assembly_D0_seed_101",
|
| 5 |
+
"validate": false,
|
| 6 |
+
"logging": {
|
| 7 |
+
"terminal_output_to_txt": true,
|
| 8 |
+
"log_tb": true,
|
| 9 |
+
"log_wandb": false,
|
| 10 |
+
"wandb_proj_name": "debug"
|
| 11 |
+
},
|
| 12 |
+
"save": {
|
| 13 |
+
"enabled": true,
|
| 14 |
+
"every_n_seconds": null,
|
| 15 |
+
"every_n_epochs": 20,
|
| 16 |
+
"epochs": [],
|
| 17 |
+
"on_best_validation": false,
|
| 18 |
+
"on_best_rollout_return": false,
|
| 19 |
+
"on_best_rollout_success_rate": true
|
| 20 |
+
},
|
| 21 |
+
"epoch_every_n_steps": 500,
|
| 22 |
+
"validation_epoch_every_n_steps": 50,
|
| 23 |
+
"env": null,
|
| 24 |
+
"additional_envs": null,
|
| 25 |
+
"render": false,
|
| 26 |
+
"render_video": true,
|
| 27 |
+
"keep_all_videos": false,
|
| 28 |
+
"video_skip": 5,
|
| 29 |
+
"rollout": {
|
| 30 |
+
"enabled": true,
|
| 31 |
+
"n": 50,
|
| 32 |
+
"horizon": 500,
|
| 33 |
+
"rate": 20,
|
| 34 |
+
"warmstart": 0,
|
| 35 |
+
"terminate_on_success": true
|
| 36 |
+
}
|
| 37 |
+
},
|
| 38 |
+
"train": {
|
| 39 |
+
"data": "./data_files/core_datasets/three_piece_assembly/demo_src_three_piece_assembly_task_D0/demo.hdf5",
|
| 40 |
+
"output_dir": "./tmp_files/core_training_results",
|
| 41 |
+
"num_data_workers": 4,
|
| 42 |
+
"hdf5_cache_mode": "low_dim",
|
| 43 |
+
"hdf5_use_swmr": true,
|
| 44 |
+
"hdf5_load_next_obs": false,
|
| 45 |
+
"hdf5_normalize_obs": false,
|
| 46 |
+
"hdf5_filter_key": null,
|
| 47 |
+
"hdf5_validation_filter_key": null,
|
| 48 |
+
"seq_length": 10,
|
| 49 |
+
"pad_seq_length": true,
|
| 50 |
+
"frame_stack": 1,
|
| 51 |
+
"pad_frame_stack": true,
|
| 52 |
+
"dataset_keys": [
|
| 53 |
+
"actions",
|
| 54 |
+
"rewards",
|
| 55 |
+
"dones"
|
| 56 |
+
],
|
| 57 |
+
"goal_mode": null,
|
| 58 |
+
"cuda": true,
|
| 59 |
+
"batch_size": 16,
|
| 60 |
+
"num_epochs": 600,
|
| 61 |
+
"seed": 101
|
| 62 |
+
},
|
| 63 |
+
"algo": {
|
| 64 |
+
"optim_params": {
|
| 65 |
+
"policy": {
|
| 66 |
+
"optimizer_type": "adam",
|
| 67 |
+
"learning_rate": {
|
| 68 |
+
"initial": 0.0001,
|
| 69 |
+
"decay_factor": 0.1,
|
| 70 |
+
"epoch_schedule": [],
|
| 71 |
+
"scheduler_type": "multistep"
|
| 72 |
+
},
|
| 73 |
+
"regularization": {
|
| 74 |
+
"L2": 0.0
|
| 75 |
+
}
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"loss": {
|
| 79 |
+
"l2_weight": 1.0,
|
| 80 |
+
"l1_weight": 0.0,
|
| 81 |
+
"cos_weight": 0.0
|
| 82 |
+
},
|
| 83 |
+
"actor_layer_dims": [],
|
| 84 |
+
"gaussian": {
|
| 85 |
+
"enabled": false,
|
| 86 |
+
"fixed_std": false,
|
| 87 |
+
"init_std": 0.1,
|
| 88 |
+
"min_std": 0.01,
|
| 89 |
+
"std_activation": "softplus",
|
| 90 |
+
"low_noise_eval": true
|
| 91 |
+
},
|
| 92 |
+
"gmm": {
|
| 93 |
+
"enabled": true,
|
| 94 |
+
"num_modes": 5,
|
| 95 |
+
"min_std": 0.0001,
|
| 96 |
+
"std_activation": "softplus",
|
| 97 |
+
"low_noise_eval": true
|
| 98 |
+
},
|
| 99 |
+
"vae": {
|
| 100 |
+
"enabled": false,
|
| 101 |
+
"latent_dim": 14,
|
| 102 |
+
"latent_clip": null,
|
| 103 |
+
"kl_weight": 1.0,
|
| 104 |
+
"decoder": {
|
| 105 |
+
"is_conditioned": true,
|
| 106 |
+
"reconstruction_sum_across_elements": false
|
| 107 |
+
},
|
| 108 |
+
"prior": {
|
| 109 |
+
"learn": false,
|
| 110 |
+
"is_conditioned": false,
|
| 111 |
+
"use_gmm": false,
|
| 112 |
+
"gmm_num_modes": 10,
|
| 113 |
+
"gmm_learn_weights": false,
|
| 114 |
+
"use_categorical": false,
|
| 115 |
+
"categorical_dim": 10,
|
| 116 |
+
"categorical_gumbel_softmax_hard": false,
|
| 117 |
+
"categorical_init_temp": 1.0,
|
| 118 |
+
"categorical_temp_anneal_step": 0.001,
|
| 119 |
+
"categorical_min_temp": 0.3
|
| 120 |
+
},
|
| 121 |
+
"encoder_layer_dims": [
|
| 122 |
+
300,
|
| 123 |
+
400
|
| 124 |
+
],
|
| 125 |
+
"decoder_layer_dims": [
|
| 126 |
+
300,
|
| 127 |
+
400
|
| 128 |
+
],
|
| 129 |
+
"prior_layer_dims": [
|
| 130 |
+
300,
|
| 131 |
+
400
|
| 132 |
+
]
|
| 133 |
+
},
|
| 134 |
+
"rnn": {
|
| 135 |
+
"enabled": true,
|
| 136 |
+
"horizon": 10,
|
| 137 |
+
"hidden_dim": 1000,
|
| 138 |
+
"rnn_type": "LSTM",
|
| 139 |
+
"num_layers": 2,
|
| 140 |
+
"open_loop": false,
|
| 141 |
+
"kwargs": {
|
| 142 |
+
"bidirectional": false
|
| 143 |
+
}
|
| 144 |
+
},
|
| 145 |
+
"transformer": {
|
| 146 |
+
"enabled": false,
|
| 147 |
+
"context_length": 10,
|
| 148 |
+
"embed_dim": 512,
|
| 149 |
+
"num_layers": 6,
|
| 150 |
+
"num_heads": 8,
|
| 151 |
+
"emb_dropout": 0.1,
|
| 152 |
+
"attn_dropout": 0.1,
|
| 153 |
+
"block_output_dropout": 0.1,
|
| 154 |
+
"sinusoidal_embedding": false,
|
| 155 |
+
"activation": "gelu",
|
| 156 |
+
"supervise_all_steps": false,
|
| 157 |
+
"nn_parameter_for_timesteps": true
|
| 158 |
+
}
|
| 159 |
+
},
|
| 160 |
+
"observation": {
|
| 161 |
+
"modalities": {
|
| 162 |
+
"obs": {
|
| 163 |
+
"low_dim": [
|
| 164 |
+
"robot0_eef_pos",
|
| 165 |
+
"robot0_eef_quat",
|
| 166 |
+
"robot0_gripper_qpos"
|
| 167 |
+
],
|
| 168 |
+
"rgb": [
|
| 169 |
+
"agentview_image",
|
| 170 |
+
"robot0_eye_in_hand_image"
|
| 171 |
+
],
|
| 172 |
+
"depth": [],
|
| 173 |
+
"scan": []
|
| 174 |
+
},
|
| 175 |
+
"goal": {
|
| 176 |
+
"low_dim": [],
|
| 177 |
+
"rgb": [],
|
| 178 |
+
"depth": [],
|
| 179 |
+
"scan": []
|
| 180 |
+
}
|
| 181 |
+
},
|
| 182 |
+
"encoder": {
|
| 183 |
+
"low_dim": {
|
| 184 |
+
"core_class": null,
|
| 185 |
+
"core_kwargs": {},
|
| 186 |
+
"obs_randomizer_class": null,
|
| 187 |
+
"obs_randomizer_kwargs": {}
|
| 188 |
+
},
|
| 189 |
+
"rgb": {
|
| 190 |
+
"core_class": "VisualCore",
|
| 191 |
+
"core_kwargs": {
|
| 192 |
+
"feature_dimension": 64,
|
| 193 |
+
"flatten": true,
|
| 194 |
+
"backbone_class": "ResNet18Conv",
|
| 195 |
+
"backbone_kwargs": {
|
| 196 |
+
"pretrained": false,
|
| 197 |
+
"input_coord_conv": false
|
| 198 |
+
},
|
| 199 |
+
"pool_class": "SpatialSoftmax",
|
| 200 |
+
"pool_kwargs": {
|
| 201 |
+
"num_kp": 32,
|
| 202 |
+
"learnable_temperature": false,
|
| 203 |
+
"temperature": 1.0,
|
| 204 |
+
"noise_std": 0.0,
|
| 205 |
+
"output_variance": false
|
| 206 |
+
}
|
| 207 |
+
},
|
| 208 |
+
"obs_randomizer_class": "CropRandomizer",
|
| 209 |
+
"obs_randomizer_kwargs": {
|
| 210 |
+
"crop_height": 76,
|
| 211 |
+
"crop_width": 76,
|
| 212 |
+
"num_crops": 1,
|
| 213 |
+
"pos_enc": false
|
| 214 |
+
}
|
| 215 |
+
},
|
| 216 |
+
"depth": {
|
| 217 |
+
"core_class": "VisualCore",
|
| 218 |
+
"core_kwargs": {},
|
| 219 |
+
"obs_randomizer_class": null,
|
| 220 |
+
"obs_randomizer_kwargs": {}
|
| 221 |
+
},
|
| 222 |
+
"scan": {
|
| 223 |
+
"core_class": "ScanCore",
|
| 224 |
+
"core_kwargs": {},
|
| 225 |
+
"obs_randomizer_class": null,
|
| 226 |
+
"obs_randomizer_kwargs": {}
|
| 227 |
+
}
|
| 228 |
+
}
|
| 229 |
+
},
|
| 230 |
+
"meta": {
|
| 231 |
+
"hp_base_config_file": "/tmp/core_train_configs/bc.json",
|
| 232 |
+
"hp_keys": [
|
| 233 |
+
"ds",
|
| 234 |
+
"seed"
|
| 235 |
+
],
|
| 236 |
+
"hp_values": [
|
| 237 |
+
"three_piece_assembly_D0",
|
| 238 |
+
101
|
| 239 |
+
]
|
| 240 |
+
}
|
| 241 |
+
}
|
data_files/core_train_configs/bc_rnn_image_ds_three_piece_assembly_D1_seed_101.json
ADDED
|
@@ -0,0 +1,241 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"algo_name": "bc",
|
| 3 |
+
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|
| 4 |
+
"name": "bc_rnn_image_ds_three_piece_assembly_D1_seed_101",
|
| 5 |
+
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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"wandb_proj_name": "debug"
|
| 11 |
+
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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"env": null,
|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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"rollout": {
|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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}
|
| 37 |
+
},
|
| 38 |
+
"train": {
|
| 39 |
+
"data": "/tmp/core_datasets/three_piece_assembly/demo_src_three_piece_assembly_task_D1/demo.hdf5",
|
| 40 |
+
"output_dir": "/tmp/core_training_results",
|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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"frame_stack": 1,
|
| 51 |
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"pad_frame_stack": true,
|
| 52 |
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"dataset_keys": [
|
| 53 |
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"actions",
|
| 54 |
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|
| 55 |
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|
| 56 |
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],
|
| 57 |
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|
| 58 |
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|
| 59 |
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"batch_size": 16,
|
| 60 |
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|
| 61 |
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"seed": 101
|
| 62 |
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|
| 63 |
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"algo": {
|
| 64 |
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"optim_params": {
|
| 65 |
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"policy": {
|
| 66 |
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"optimizer_type": "adam",
|
| 67 |
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"learning_rate": {
|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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},
|
| 73 |
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|
| 74 |
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"L2": 0.0
|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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"loss": {
|
| 79 |
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"l2_weight": 1.0,
|
| 80 |
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|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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"std_activation": "softplus",
|
| 90 |
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|
| 91 |
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|
| 92 |
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"gmm": {
|
| 93 |
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"enabled": true,
|
| 94 |
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|
| 95 |
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|
| 96 |
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"std_activation": "softplus",
|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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"enabled": false,
|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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"decoder": {
|
| 105 |
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"is_conditioned": true,
|
| 106 |
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"reconstruction_sum_across_elements": false
|
| 107 |
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|
| 108 |
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"prior": {
|
| 109 |
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"learn": false,
|
| 110 |
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"is_conditioned": false,
|
| 111 |
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"use_gmm": false,
|
| 112 |
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"gmm_num_modes": 10,
|
| 113 |
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"gmm_learn_weights": false,
|
| 114 |
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"use_categorical": false,
|
| 115 |
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|
| 116 |
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|
| 117 |
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|
| 118 |
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"categorical_temp_anneal_step": 0.001,
|
| 119 |
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|
| 120 |
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|
| 121 |
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"encoder_layer_dims": [
|
| 122 |
+
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|
| 123 |
+
400
|
| 124 |
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|
| 125 |
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|
| 126 |
+
300,
|
| 127 |
+
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|
| 128 |
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|
| 129 |
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"prior_layer_dims": [
|
| 130 |
+
300,
|
| 131 |
+
400
|
| 132 |
+
]
|
| 133 |
+
},
|
| 134 |
+
"rnn": {
|
| 135 |
+
"enabled": true,
|
| 136 |
+
"horizon": 10,
|
| 137 |
+
"hidden_dim": 1000,
|
| 138 |
+
"rnn_type": "LSTM",
|
| 139 |
+
"num_layers": 2,
|
| 140 |
+
"open_loop": false,
|
| 141 |
+
"kwargs": {
|
| 142 |
+
"bidirectional": false
|
| 143 |
+
}
|
| 144 |
+
},
|
| 145 |
+
"transformer": {
|
| 146 |
+
"enabled": false,
|
| 147 |
+
"context_length": 10,
|
| 148 |
+
"embed_dim": 512,
|
| 149 |
+
"num_layers": 6,
|
| 150 |
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"num_heads": 8,
|
| 151 |
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"emb_dropout": 0.1,
|
| 152 |
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"attn_dropout": 0.1,
|
| 153 |
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"block_output_dropout": 0.1,
|
| 154 |
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"sinusoidal_embedding": false,
|
| 155 |
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"activation": "gelu",
|
| 156 |
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"supervise_all_steps": false,
|
| 157 |
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"nn_parameter_for_timesteps": true
|
| 158 |
+
}
|
| 159 |
+
},
|
| 160 |
+
"observation": {
|
| 161 |
+
"modalities": {
|
| 162 |
+
"obs": {
|
| 163 |
+
"low_dim": [
|
| 164 |
+
"robot0_eef_pos",
|
| 165 |
+
"robot0_eef_quat",
|
| 166 |
+
"robot0_gripper_qpos"
|
| 167 |
+
],
|
| 168 |
+
"rgb": [
|
| 169 |
+
"agentview_image",
|
| 170 |
+
"robot0_eye_in_hand_image"
|
| 171 |
+
],
|
| 172 |
+
"depth": [],
|
| 173 |
+
"scan": []
|
| 174 |
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},
|
| 175 |
+
"goal": {
|
| 176 |
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"low_dim": [],
|
| 177 |
+
"rgb": [],
|
| 178 |
+
"depth": [],
|
| 179 |
+
"scan": []
|
| 180 |
+
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|
| 181 |
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|
| 182 |
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"encoder": {
|
| 183 |
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"low_dim": {
|
| 184 |
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"core_class": null,
|
| 185 |
+
"core_kwargs": {},
|
| 186 |
+
"obs_randomizer_class": null,
|
| 187 |
+
"obs_randomizer_kwargs": {}
|
| 188 |
+
},
|
| 189 |
+
"rgb": {
|
| 190 |
+
"core_class": "VisualCore",
|
| 191 |
+
"core_kwargs": {
|
| 192 |
+
"feature_dimension": 64,
|
| 193 |
+
"flatten": true,
|
| 194 |
+
"backbone_class": "ResNet18Conv",
|
| 195 |
+
"backbone_kwargs": {
|
| 196 |
+
"pretrained": false,
|
| 197 |
+
"input_coord_conv": false
|
| 198 |
+
},
|
| 199 |
+
"pool_class": "SpatialSoftmax",
|
| 200 |
+
"pool_kwargs": {
|
| 201 |
+
"num_kp": 32,
|
| 202 |
+
"learnable_temperature": false,
|
| 203 |
+
"temperature": 1.0,
|
| 204 |
+
"noise_std": 0.0,
|
| 205 |
+
"output_variance": false
|
| 206 |
+
}
|
| 207 |
+
},
|
| 208 |
+
"obs_randomizer_class": "CropRandomizer",
|
| 209 |
+
"obs_randomizer_kwargs": {
|
| 210 |
+
"crop_height": 76,
|
| 211 |
+
"crop_width": 76,
|
| 212 |
+
"num_crops": 1,
|
| 213 |
+
"pos_enc": false
|
| 214 |
+
}
|
| 215 |
+
},
|
| 216 |
+
"depth": {
|
| 217 |
+
"core_class": "VisualCore",
|
| 218 |
+
"core_kwargs": {},
|
| 219 |
+
"obs_randomizer_class": null,
|
| 220 |
+
"obs_randomizer_kwargs": {}
|
| 221 |
+
},
|
| 222 |
+
"scan": {
|
| 223 |
+
"core_class": "ScanCore",
|
| 224 |
+
"core_kwargs": {},
|
| 225 |
+
"obs_randomizer_class": null,
|
| 226 |
+
"obs_randomizer_kwargs": {}
|
| 227 |
+
}
|
| 228 |
+
}
|
| 229 |
+
},
|
| 230 |
+
"meta": {
|
| 231 |
+
"hp_base_config_file": "/tmp/core_train_configs/bc.json",
|
| 232 |
+
"hp_keys": [
|
| 233 |
+
"ds",
|
| 234 |
+
"seed"
|
| 235 |
+
],
|
| 236 |
+
"hp_values": [
|
| 237 |
+
"three_piece_assembly_D1",
|
| 238 |
+
101
|
| 239 |
+
]
|
| 240 |
+
}
|
| 241 |
+
}
|
data_files/core_train_configs/bc_rnn_image_ds_three_piece_assembly_D2_seed_101.json
ADDED
|
@@ -0,0 +1,241 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"algo_name": "bc",
|
| 3 |
+
"experiment": {
|
| 4 |
+
"name": "bc_rnn_image_ds_three_piece_assembly_D2_seed_101",
|
| 5 |
+
"validate": false,
|
| 6 |
+
"logging": {
|
| 7 |
+
"terminal_output_to_txt": true,
|
| 8 |
+
"log_tb": true,
|
| 9 |
+
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|
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| 11 |
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|
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|
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|
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|
| 38 |
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|
| 39 |
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| 132 |
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| 134 |
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| 135 |
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|
| 136 |
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|
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|
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|
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|
| 140 |
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| 141 |
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| 142 |
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| 143 |
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|
| 144 |
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| 145 |
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| 146 |
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| 158 |
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| 159 |
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| 160 |
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| 161 |
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| 162 |
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| 163 |
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| 164 |
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| 165 |
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| 166 |
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| 167 |
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| 168 |
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| 169 |
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| 171 |
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| 172 |
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| 173 |
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| 174 |
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| 175 |
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| 176 |
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| 177 |
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| 178 |
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| 179 |
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| 180 |
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| 182 |
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| 183 |
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| 187 |
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| 188 |
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| 189 |
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| 190 |
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|
| 191 |
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| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
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|
| 196 |
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|
| 197 |
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|
| 198 |
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|
| 199 |
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|
| 200 |
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|
| 201 |
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|
| 202 |
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|
| 203 |
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|
| 204 |
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|
| 205 |
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|
| 206 |
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|
| 207 |
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|
| 208 |
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|
| 209 |
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|
| 210 |
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|
| 211 |
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|
| 212 |
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|
| 213 |
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|
| 214 |
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|
| 215 |
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|
| 216 |
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|
| 217 |
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|
| 218 |
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|
| 219 |
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|
| 220 |
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|
| 221 |
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|
| 222 |
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|
| 223 |
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|
| 224 |
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|
| 225 |
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|
| 226 |
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|
| 227 |
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|
| 228 |
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|
| 229 |
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},
|
| 230 |
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"meta": {
|
| 231 |
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"hp_base_config_file": "/tmp/core_train_configs/bc.json",
|
| 232 |
+
"hp_keys": [
|
| 233 |
+
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|
| 234 |
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|
| 235 |
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],
|
| 236 |
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"hp_values": [
|
| 237 |
+
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|
| 238 |
+
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|
| 239 |
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|
| 240 |
+
}
|
| 241 |
+
}
|
data_files/core_train_configs/bc_rnn_low_dim_ds_coffee_D0_seed_101.json
ADDED
|
@@ -0,0 +1,218 @@
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
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|
|
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|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
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|
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|
|
|
|
|
|
|
|
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|
|
|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"algo_name": "bc",
|
| 3 |
+
"experiment": {
|
| 4 |
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"name": "bc_rnn_low_dim_ds_coffee_D0_seed_101",
|
| 5 |
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"validate": false,
|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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| 10 |
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|
| 11 |
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| 12 |
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|
| 13 |
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|
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
+
}
|
| 37 |
+
},
|
| 38 |
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"train": {
|
| 39 |
+
"data": "/tmp/core_datasets/coffee/demo_src_coffee_task_D0/demo.hdf5",
|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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|
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|
| 47 |
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| 48 |
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|
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|
| 50 |
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|
| 51 |
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| 52 |
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| 53 |
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| 54 |
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| 55 |
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| 56 |
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| 57 |
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|
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|
| 60 |
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|
| 61 |
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|
| 62 |
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| 63 |
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| 64 |
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| 65 |
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| 66 |
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| 67 |
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| 68 |
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|
| 69 |
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| 70 |
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|
| 71 |
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| 72 |
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| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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| 78 |
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"loss": {
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| 79 |
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|
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|
| 166 |
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|
| 167 |
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| 168 |
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| 169 |
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| 170 |
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| 174 |
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| 176 |
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|
| 177 |
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|
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|
| 179 |
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| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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| 187 |
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| 188 |
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| 189 |
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|
| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
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|
| 196 |
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|
| 197 |
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|
| 198 |
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|
| 199 |
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|
| 200 |
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|
| 201 |
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|
| 202 |
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|
| 203 |
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|
| 204 |
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|
| 205 |
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|
| 206 |
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|
| 207 |
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|
| 208 |
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|
| 209 |
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"hp_keys": [
|
| 210 |
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|
| 211 |
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|
| 212 |
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|
| 213 |
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|
| 214 |
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|
| 215 |
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|
| 216 |
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|
| 217 |
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}
|
| 218 |
+
}
|
data_files/core_train_configs/bc_rnn_low_dim_ds_coffee_D1_seed_101.json
ADDED
|
@@ -0,0 +1,218 @@
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|
| 1 |
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{
|
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|
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|
| 36 |
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|
| 37 |
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|
| 38 |
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"train": {
|
| 39 |
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|
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| 41 |
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|
| 181 |
+
"low_dim": {
|
| 182 |
+
"core_class": null,
|
| 183 |
+
"core_kwargs": {},
|
| 184 |
+
"obs_randomizer_class": null,
|
| 185 |
+
"obs_randomizer_kwargs": {}
|
| 186 |
+
},
|
| 187 |
+
"rgb": {
|
| 188 |
+
"core_class": "VisualCore",
|
| 189 |
+
"core_kwargs": {},
|
| 190 |
+
"obs_randomizer_class": null,
|
| 191 |
+
"obs_randomizer_kwargs": {}
|
| 192 |
+
},
|
| 193 |
+
"depth": {
|
| 194 |
+
"core_class": "VisualCore",
|
| 195 |
+
"core_kwargs": {},
|
| 196 |
+
"obs_randomizer_class": null,
|
| 197 |
+
"obs_randomizer_kwargs": {}
|
| 198 |
+
},
|
| 199 |
+
"scan": {
|
| 200 |
+
"core_class": "ScanCore",
|
| 201 |
+
"core_kwargs": {},
|
| 202 |
+
"obs_randomizer_class": null,
|
| 203 |
+
"obs_randomizer_kwargs": {}
|
| 204 |
+
}
|
| 205 |
+
}
|
| 206 |
+
},
|
| 207 |
+
"meta": {
|
| 208 |
+
"hp_base_config_file": "/tmp/core_train_configs/bc.json",
|
| 209 |
+
"hp_keys": [
|
| 210 |
+
"ds",
|
| 211 |
+
"seed"
|
| 212 |
+
],
|
| 213 |
+
"hp_values": [
|
| 214 |
+
"coffee_D1",
|
| 215 |
+
101
|
| 216 |
+
]
|
| 217 |
+
}
|
| 218 |
+
}
|
data_files/core_train_configs/bc_rnn_low_dim_ds_coffee_D2_seed_101.json
ADDED
|
@@ -0,0 +1,218 @@
|
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|
|
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|
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|
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|
|
|
|
|
|
|
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|
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|
|
|
|
|
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|
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|
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|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
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|
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|
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|
|
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|
|
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|
|
|
|
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|
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|
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|
|
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|
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|
|
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|
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|
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|
|
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|
|
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|
|
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|
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|
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|
|
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|
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|
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|
|
|
| 1 |
+
{
|
| 2 |
+
"algo_name": "bc",
|
| 3 |
+
"experiment": {
|
| 4 |
+
"name": "bc_rnn_low_dim_ds_coffee_D2_seed_101",
|
| 5 |
+
"validate": false,
|
| 6 |
+
"logging": {
|
| 7 |
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"terminal_output_to_txt": true,
|
| 8 |
+
"log_tb": true,
|
| 9 |
+
"log_wandb": false,
|
| 10 |
+
"wandb_proj_name": "debug"
|
| 11 |
+
},
|
| 12 |
+
"save": {
|
| 13 |
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"enabled": true,
|
| 14 |
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"every_n_seconds": null,
|
| 15 |
+
"every_n_epochs": 50,
|
| 16 |
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"epochs": [],
|
| 17 |
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"on_best_validation": false,
|
| 18 |
+
"on_best_rollout_return": false,
|
| 19 |
+
"on_best_rollout_success_rate": true
|
| 20 |
+
},
|
| 21 |
+
"epoch_every_n_steps": 100,
|
| 22 |
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"validation_epoch_every_n_steps": 10,
|
| 23 |
+
"env": null,
|
| 24 |
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"additional_envs": null,
|
| 25 |
+
"render": false,
|
| 26 |
+
"render_video": true,
|
| 27 |
+
"keep_all_videos": false,
|
| 28 |
+
"video_skip": 5,
|
| 29 |
+
"rollout": {
|
| 30 |
+
"enabled": true,
|
| 31 |
+
"n": 50,
|
| 32 |
+
"horizon": 400,
|
| 33 |
+
"rate": 50,
|
| 34 |
+
"warmstart": 0,
|
| 35 |
+
"terminate_on_success": true
|
| 36 |
+
}
|
| 37 |
+
},
|
| 38 |
+
"train": {
|
| 39 |
+
"data": "/tmp/core_datasets/coffee/demo_src_coffee_task_D2/demo.hdf5",
|
| 40 |
+
"output_dir": "/tmp/core_training_results",
|
| 41 |
+
"num_data_workers": 4,
|
| 42 |
+
"hdf5_cache_mode": "low_dim",
|
| 43 |
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"hdf5_use_swmr": true,
|
| 44 |
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"hdf5_load_next_obs": false,
|
| 45 |
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"hdf5_normalize_obs": false,
|
| 46 |
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"hdf5_filter_key": null,
|
| 47 |
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"hdf5_validation_filter_key": null,
|
| 48 |
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"seq_length": 10,
|
| 49 |
+
"pad_seq_length": true,
|
| 50 |
+
"frame_stack": 1,
|
| 51 |
+
"pad_frame_stack": true,
|
| 52 |
+
"dataset_keys": [
|
| 53 |
+
"actions",
|
| 54 |
+
"rewards",
|
| 55 |
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"dones"
|
| 56 |
+
],
|
| 57 |
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"goal_mode": null,
|
| 58 |
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"cuda": true,
|
| 59 |
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"batch_size": 100,
|
| 60 |
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"num_epochs": 2000,
|
| 61 |
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"seed": 101
|
| 62 |
+
},
|
| 63 |
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"algo": {
|
| 64 |
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"optim_params": {
|
| 65 |
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"policy": {
|
| 66 |
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"optimizer_type": "adam",
|
| 67 |
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"learning_rate": {
|
| 68 |
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"initial": 0.001,
|
| 69 |
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"decay_factor": 0.1,
|
| 70 |
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"epoch_schedule": [],
|
| 71 |
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"scheduler_type": "multistep"
|
| 72 |
+
},
|
| 73 |
+
"regularization": {
|
| 74 |
+
"L2": 0.0
|
| 75 |
+
}
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"loss": {
|
| 79 |
+
"l2_weight": 1.0,
|
| 80 |
+
"l1_weight": 0.0,
|
| 81 |
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"cos_weight": 0.0
|
| 82 |
+
},
|
| 83 |
+
"actor_layer_dims": [],
|
| 84 |
+
"gaussian": {
|
| 85 |
+
"enabled": false,
|
| 86 |
+
"fixed_std": false,
|
| 87 |
+
"init_std": 0.1,
|
| 88 |
+
"min_std": 0.01,
|
| 89 |
+
"std_activation": "softplus",
|
| 90 |
+
"low_noise_eval": true
|
| 91 |
+
},
|
| 92 |
+
"gmm": {
|
| 93 |
+
"enabled": true,
|
| 94 |
+
"num_modes": 5,
|
| 95 |
+
"min_std": 0.0001,
|
| 96 |
+
"std_activation": "softplus",
|
| 97 |
+
"low_noise_eval": true
|
| 98 |
+
},
|
| 99 |
+
"vae": {
|
| 100 |
+
"enabled": false,
|
| 101 |
+
"latent_dim": 14,
|
| 102 |
+
"latent_clip": null,
|
| 103 |
+
"kl_weight": 1.0,
|
| 104 |
+
"decoder": {
|
| 105 |
+
"is_conditioned": true,
|
| 106 |
+
"reconstruction_sum_across_elements": false
|
| 107 |
+
},
|
| 108 |
+
"prior": {
|
| 109 |
+
"learn": false,
|
| 110 |
+
"is_conditioned": false,
|
| 111 |
+
"use_gmm": false,
|
| 112 |
+
"gmm_num_modes": 10,
|
| 113 |
+
"gmm_learn_weights": false,
|
| 114 |
+
"use_categorical": false,
|
| 115 |
+
"categorical_dim": 10,
|
| 116 |
+
"categorical_gumbel_softmax_hard": false,
|
| 117 |
+
"categorical_init_temp": 1.0,
|
| 118 |
+
"categorical_temp_anneal_step": 0.001,
|
| 119 |
+
"categorical_min_temp": 0.3
|
| 120 |
+
},
|
| 121 |
+
"encoder_layer_dims": [
|
| 122 |
+
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|
| 123 |
+
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|
| 124 |
+
],
|
| 125 |
+
"decoder_layer_dims": [
|
| 126 |
+
300,
|
| 127 |
+
400
|
| 128 |
+
],
|
| 129 |
+
"prior_layer_dims": [
|
| 130 |
+
300,
|
| 131 |
+
400
|
| 132 |
+
]
|
| 133 |
+
},
|
| 134 |
+
"rnn": {
|
| 135 |
+
"enabled": true,
|
| 136 |
+
"horizon": 10,
|
| 137 |
+
"hidden_dim": 400,
|
| 138 |
+
"rnn_type": "LSTM",
|
| 139 |
+
"num_layers": 2,
|
| 140 |
+
"open_loop": false,
|
| 141 |
+
"kwargs": {
|
| 142 |
+
"bidirectional": false
|
| 143 |
+
}
|
| 144 |
+
},
|
| 145 |
+
"transformer": {
|
| 146 |
+
"enabled": false,
|
| 147 |
+
"context_length": 10,
|
| 148 |
+
"embed_dim": 512,
|
| 149 |
+
"num_layers": 6,
|
| 150 |
+
"num_heads": 8,
|
| 151 |
+
"emb_dropout": 0.1,
|
| 152 |
+
"attn_dropout": 0.1,
|
| 153 |
+
"block_output_dropout": 0.1,
|
| 154 |
+
"sinusoidal_embedding": false,
|
| 155 |
+
"activation": "gelu",
|
| 156 |
+
"supervise_all_steps": false,
|
| 157 |
+
"nn_parameter_for_timesteps": true
|
| 158 |
+
}
|
| 159 |
+
},
|
| 160 |
+
"observation": {
|
| 161 |
+
"modalities": {
|
| 162 |
+
"obs": {
|
| 163 |
+
"low_dim": [
|
| 164 |
+
"robot0_eef_pos",
|
| 165 |
+
"robot0_eef_quat",
|
| 166 |
+
"robot0_gripper_qpos",
|
| 167 |
+
"object"
|
| 168 |
+
],
|
| 169 |
+
"rgb": [],
|
| 170 |
+
"depth": [],
|
| 171 |
+
"scan": []
|
| 172 |
+
},
|
| 173 |
+
"goal": {
|
| 174 |
+
"low_dim": [],
|
| 175 |
+
"rgb": [],
|
| 176 |
+
"depth": [],
|
| 177 |
+
"scan": []
|
| 178 |
+
}
|
| 179 |
+
},
|
| 180 |
+
"encoder": {
|
| 181 |
+
"low_dim": {
|
| 182 |
+
"core_class": null,
|
| 183 |
+
"core_kwargs": {},
|
| 184 |
+
"obs_randomizer_class": null,
|
| 185 |
+
"obs_randomizer_kwargs": {}
|
| 186 |
+
},
|
| 187 |
+
"rgb": {
|
| 188 |
+
"core_class": "VisualCore",
|
| 189 |
+
"core_kwargs": {},
|
| 190 |
+
"obs_randomizer_class": null,
|
| 191 |
+
"obs_randomizer_kwargs": {}
|
| 192 |
+
},
|
| 193 |
+
"depth": {
|
| 194 |
+
"core_class": "VisualCore",
|
| 195 |
+
"core_kwargs": {},
|
| 196 |
+
"obs_randomizer_class": null,
|
| 197 |
+
"obs_randomizer_kwargs": {}
|
| 198 |
+
},
|
| 199 |
+
"scan": {
|
| 200 |
+
"core_class": "ScanCore",
|
| 201 |
+
"core_kwargs": {},
|
| 202 |
+
"obs_randomizer_class": null,
|
| 203 |
+
"obs_randomizer_kwargs": {}
|
| 204 |
+
}
|
| 205 |
+
}
|
| 206 |
+
},
|
| 207 |
+
"meta": {
|
| 208 |
+
"hp_base_config_file": "/tmp/core_train_configs/bc.json",
|
| 209 |
+
"hp_keys": [
|
| 210 |
+
"ds",
|
| 211 |
+
"seed"
|
| 212 |
+
],
|
| 213 |
+
"hp_values": [
|
| 214 |
+
"coffee_D2",
|
| 215 |
+
101
|
| 216 |
+
]
|
| 217 |
+
}
|
| 218 |
+
}
|
data_files/core_train_configs/bc_rnn_low_dim_ds_coffee_preparation_D0_seed_101.json
ADDED
|
@@ -0,0 +1,218 @@
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
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|
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|
|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
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|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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| 9 |
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|
| 10 |
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|
| 11 |
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| 12 |
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|
| 13 |
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|
| 14 |
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|
| 16 |
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| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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|
| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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|
| 154 |
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|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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|
| 167 |
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"object"
|
| 168 |
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|
| 169 |
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|
| 170 |
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|
| 171 |
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|
| 172 |
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|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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|
| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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|
| 189 |
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|
| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
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|
| 196 |
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|
| 197 |
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|
| 198 |
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|
| 199 |
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"scan": {
|
| 200 |
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|
| 201 |
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|
| 202 |
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|
| 203 |
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|
| 204 |
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|
| 205 |
+
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|
| 206 |
+
},
|
| 207 |
+
"meta": {
|
| 208 |
+
"hp_base_config_file": "/tmp/core_train_configs/bc.json",
|
| 209 |
+
"hp_keys": [
|
| 210 |
+
"ds",
|
| 211 |
+
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|
| 212 |
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],
|
| 213 |
+
"hp_values": [
|
| 214 |
+
"coffee_preparation_D0",
|
| 215 |
+
101
|
| 216 |
+
]
|
| 217 |
+
}
|
| 218 |
+
}
|
data_files/core_train_configs/bc_rnn_low_dim_ds_coffee_preparation_D1_seed_101.json
ADDED
|
@@ -0,0 +1,218 @@
|
|
|
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|
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|
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|
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|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"algo_name": "bc",
|
| 3 |
+
"experiment": {
|
| 4 |
+
"name": "bc_rnn_low_dim_ds_coffee_preparation_D1_seed_101",
|
| 5 |
+
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|
| 6 |
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|
| 7 |
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"terminal_output_to_txt": true,
|
| 8 |
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|
| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
+
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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"on_best_rollout_success_rate": true
|
| 20 |
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},
|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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"render": false,
|
| 26 |
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"render_video": true,
|
| 27 |
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"keep_all_videos": false,
|
| 28 |
+
"video_skip": 5,
|
| 29 |
+
"rollout": {
|
| 30 |
+
"enabled": true,
|
| 31 |
+
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|
| 32 |
+
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|
| 33 |
+
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|
| 34 |
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|
| 35 |
+
"terminate_on_success": true
|
| 36 |
+
}
|
| 37 |
+
},
|
| 38 |
+
"train": {
|
| 39 |
+
"data": "/tmp/core_datasets/coffee_preparation/demo_src_coffee_preparation_task_D1/demo.hdf5",
|
| 40 |
+
"output_dir": "/tmp/core_training_results",
|
| 41 |
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|
| 42 |
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"hdf5_cache_mode": "low_dim",
|
| 43 |
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"hdf5_use_swmr": true,
|
| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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