| !!python/object/new:easydict.EasyDict |
| dictitems: |
| add_proj: false |
| debug: false |
| device: cuda |
| device_id: 0 |
| device_type: cuda |
| dimp_eval: false |
| env: &id030 !!python/object/new:easydict.EasyDict |
| dictitems: |
| asset_type: mesh |
| auto_pmcp: false |
| auto_pmcp_soft: true |
| aux_coefficient: 0.3 |
| bench_asset_density: 1000.0 |
| contact_bodies: &id001 |
| - L_Knee |
| - L_Ankle |
| - L_Toe |
| - R_Knee |
| - R_Ankle |
| - R_Toe |
| - Torso |
| - Chest |
| - L_Thorax |
| - L_Shoulder |
| - L_Elbow |
| - L_Wrist |
| - L_Hand |
| - R_Thorax |
| - R_Shoulder |
| - R_Elbow |
| - R_Wrist |
| - R_Hand |
| controlFrequencyInv: 2 |
| control_mode: isaac_pd |
| cycle_motion: false |
| cycle_motion_xp: false |
| debug: &id002 !!python/object/new:easydict.EasyDict |
| dictitems: |
| no_aux_obs: false |
| no_terrain: false |
| state: |
| no_aux_obs: false |
| no_terrain: false |
| dimp: &id003 !!python/object/new:easydict.EasyDict |
| dictitems: |
| cfg_param: 5 |
| context_switch_prob: 0.0 |
| debug_hml: false |
| dump_mdm: false |
| handle_text_distrib: true |
| limit_context: null |
| max_saved_hml_episodes: 50000 |
| model_path: /home/dcor/sigalraab/train_outputs/rl/from_guy/PrefixCompHor_DiffusionSteps_10_PredLen_40_new/model000200000.pt |
| open_loop_hook: false |
| planning_horizon: 40 |
| planning_horizon_multiplyer: 1 |
| prefix_crop_size: 16 |
| prompt: A person is walking. |
| recon_frame_start: 0 |
| recon_frame_stop: -1 |
| recon_param: 10000.0 |
| recon_step_start: -1 |
| recon_step_stop: 2 |
| save_hml_episodes: true |
| save_hml_episodes_dir: '' |
| save_name_suffix: recover2 |
| traj_guidance: false |
| state: |
| cfg_param: 5 |
| context_switch_prob: 0.0 |
| debug_hml: false |
| dump_mdm: false |
| handle_text_distrib: true |
| limit_context: null |
| max_saved_hml_episodes: 50000 |
| model_path: /home/dcor/sigalraab/train_outputs/rl/from_guy/PrefixCompHor_DiffusionSteps_10_PredLen_40_new/model000200000.pt |
| open_loop_hook: false |
| planning_horizon: 40 |
| planning_horizon_multiplyer: 1 |
| prefix_crop_size: 16 |
| prompt: A person is walking. |
| recon_frame_start: 0 |
| recon_frame_stop: -1 |
| recon_param: 10000.0 |
| recon_step_start: -1 |
| recon_step_stop: 2 |
| save_hml_episodes: true |
| save_hml_episodes_dir: '' |
| save_name_suffix: recover2 |
| traj_guidance: false |
| disable_adaptnet: true |
| done_dist: 0.3 |
| enableEarlyTermination: true |
| enableTaskObs: true |
| enable_debug_vis: false |
| enable_transitions: true |
| env_spacing: 5 |
| episode_length: 300 |
| fut_tracks: false |
| hard_negative: false |
| hybridInitProb: 0.5 |
| imitator: HumanoidIm |
| is_flag_run: false |
| key_bodies: &id004 |
| - R_Ankle |
| - L_Ankle |
| - R_Wrist |
| - L_Wrist |
| kp_scale: 1 |
| local_root_obs: true |
| min_length: 5 |
| models: output/HumanoidIm/PhcSinglePrimForever/Humanoid.pth |
| motion_file: sample_data/amass_isaac_standing_upright_slim.pkl |
| notes: '' |
| numAMPObsSteps: 10 |
| numActions: 69 |
| numObservations: 574 |
| numTrajSamples: 3 |
| num_envs: 4096 |
| obs_v: 7 |
| plane: &id005 !!python/object/new:easydict.EasyDict |
| dictitems: |
| dynamicFriction: 1.0 |
| restitution: 0.0 |
| staticFriction: 1.0 |
| state: |
| dynamicFriction: 1.0 |
| restitution: 0.0 |
| staticFriction: 1.0 |
| power_reward: true |
| power_scale: 1.0 |
| project_name: PHC |
| reachBodyName: Pelvis |
| reset_bodies: &id006 |
| - Pelvis |
| - L_Hip |
| - L_Knee |
| - R_Hip |
| - R_Knee |
| - Torso |
| - Spine |
| - Chest |
| - Neck |
| - Head |
| - L_Thorax |
| - L_Shoulder |
| - L_Elbow |
| - L_Wrist |
| - L_Hand |
| - R_Thorax |
| - R_Shoulder |
| - R_Elbow |
| - R_Wrist |
| - R_Hand |
| root_height_obs: true |
| seed: -1 |
| self_obs_v: 1 |
| shape_resampling_interval: 100000000000000000 |
| show_markers: true |
| stateInit: Random |
| strikeBodyNames: &id007 |
| - L_Hand |
| strike_asset_density: 200.0 |
| support_phc_markers: true |
| tarChangeStepsMax: 100 |
| tarChangeStepsMin: 50 |
| tarDistMax: 1.0 |
| tarHeightMax: 0.95 |
| tarHeightMin: 0.9 |
| tarSpeed: 1.0 |
| task: HumanoidAdaptNetT2M |
| terminationDistance: 0.25 |
| terminationHeight: 0.15 |
| terrain: &id008 !!python/object/new:easydict.EasyDict |
| dictitems: |
| height_safety_gap: 0.0 |
| state: |
| height_safety_gap: 0.0 |
| trajSampleTimestepInv: 3 |
| state: |
| asset_type: mesh |
| auto_pmcp: false |
| auto_pmcp_soft: true |
| aux_coefficient: 0.3 |
| bench_asset_density: 1000.0 |
| contact_bodies: *id001 |
| controlFrequencyInv: 2 |
| control_mode: isaac_pd |
| cycle_motion: false |
| cycle_motion_xp: false |
| debug: *id002 |
| dimp: *id003 |
| disable_adaptnet: true |
| done_dist: 0.3 |
| enableEarlyTermination: true |
| enableTaskObs: true |
| enable_debug_vis: false |
| enable_transitions: true |
| env_spacing: 5 |
| episode_length: 300 |
| fut_tracks: false |
| hard_negative: false |
| hybridInitProb: 0.5 |
| imitator: HumanoidIm |
| is_flag_run: false |
| key_bodies: *id004 |
| kp_scale: 1 |
| local_root_obs: true |
| min_length: 5 |
| models: output/HumanoidIm/PhcSinglePrimForever/Humanoid.pth |
| motion_file: sample_data/amass_isaac_standing_upright_slim.pkl |
| notes: '' |
| numAMPObsSteps: 10 |
| numActions: 69 |
| numObservations: 574 |
| numTrajSamples: 3 |
| num_envs: 4096 |
| obs_v: 7 |
| plane: *id005 |
| power_reward: true |
| power_scale: 1.0 |
| project_name: PHC |
| reachBodyName: Pelvis |
| reset_bodies: *id006 |
| root_height_obs: true |
| seed: -1 |
| self_obs_v: 1 |
| shape_resampling_interval: 100000000000000000 |
| show_markers: true |
| stateInit: Random |
| strikeBodyNames: *id007 |
| strike_asset_density: 200.0 |
| support_phc_markers: true |
| tarChangeStepsMax: 100 |
| tarChangeStepsMin: 50 |
| tarDistMax: 1.0 |
| tarHeightMax: 0.95 |
| tarHeightMin: 0.9 |
| tarSpeed: 1.0 |
| task: HumanoidAdaptNetT2M |
| terminationDistance: 0.25 |
| terminationHeight: 0.15 |
| terrain: *id008 |
| trajSampleTimestepInv: 3 |
| epoch: 61500 |
| exp_name: T2mFinetune |
| follow: true |
| has_eval: true |
| headless: true |
| horovod: false |
| im_eval: false |
| learning: &id031 !!python/object/new:easydict.EasyDict |
| dictitems: |
| params: &id026 !!python/object/new:easydict.EasyDict |
| dictitems: |
| algo: &id022 !!python/object/new:easydict.EasyDict |
| dictitems: |
| name: im_amp |
| state: |
| name: im_amp |
| config: &id023 !!python/object/new:easydict.EasyDict |
| dictitems: |
| amp_batch_size: 512 |
| amp_minibatch_size: 4096 |
| amp_obs_demo_buffer_size: 200000 |
| amp_replay_buffer_size: 200000 |
| amp_replay_keep_prob: 0.01 |
| bounds_loss_coef: 10 |
| clip_value: false |
| critic_coef: 5 |
| dimp_eval: false |
| disc_coef: 5 |
| disc_grad_penalty: 5 |
| disc_logit_reg: 0.01 |
| disc_reward_scale: 2 |
| disc_reward_w: 0.5 |
| disc_weight_decay: 0.0001 |
| e_clip: 0.2 |
| entropy_coef: 0.0 |
| env_name: rlgpu |
| gamma: 0.99 |
| grad_norm: 50.0 |
| horizon_length: 32 |
| learning_rate: 2.0e-05 |
| lr_schedule: constant |
| max_epochs: 10000000 |
| mini_epochs: 6 |
| minibatch_size: 16384 |
| mixed_precision: false |
| multi_gpu: false |
| name: Humanoid |
| network_path: output/HumanoidIm/T2mFinetune |
| normalize_advantage: true |
| normalize_amp_input: true |
| normalize_input: true |
| normalize_value: true |
| num_actors: 4096 |
| player: &id009 !!python/object/new:easydict.EasyDict |
| dictitems: |
| games_num: 50000000 |
| print_stats: false |
| state: |
| games_num: 50000000 |
| print_stats: false |
| ppo: true |
| print_stats: false |
| reward_shaper: &id010 !!python/object/new:easydict.EasyDict |
| dictitems: |
| scale_value: 1 |
| state: |
| scale_value: 1 |
| save_best_after: 100 |
| save_frequency: 500 |
| save_intermediate: true |
| score_to_win: 20000 |
| task_reward_w: 0.5 |
| tau: 0.95 |
| train_dir: output/HumanoidIm/T2mFinetune |
| truncate_grads: true |
| state: |
| amp_batch_size: 512 |
| amp_minibatch_size: 4096 |
| amp_obs_demo_buffer_size: 200000 |
| amp_replay_buffer_size: 200000 |
| amp_replay_keep_prob: 0.01 |
| bounds_loss_coef: 10 |
| clip_value: false |
| critic_coef: 5 |
| dimp_eval: false |
| disc_coef: 5 |
| disc_grad_penalty: 5 |
| disc_logit_reg: 0.01 |
| disc_reward_scale: 2 |
| disc_reward_w: 0.5 |
| disc_weight_decay: 0.0001 |
| e_clip: 0.2 |
| entropy_coef: 0.0 |
| env_name: rlgpu |
| gamma: 0.99 |
| grad_norm: 50.0 |
| horizon_length: 32 |
| learning_rate: 2.0e-05 |
| lr_schedule: constant |
| max_epochs: 10000000 |
| mini_epochs: 6 |
| minibatch_size: 16384 |
| mixed_precision: false |
| multi_gpu: false |
| name: Humanoid |
| network_path: output/HumanoidIm/T2mFinetune |
| normalize_advantage: true |
| normalize_amp_input: true |
| normalize_input: true |
| normalize_value: true |
| num_actors: 4096 |
| player: *id009 |
| ppo: true |
| print_stats: false |
| reward_shaper: *id010 |
| save_best_after: 100 |
| save_frequency: 500 |
| save_intermediate: true |
| score_to_win: 20000 |
| task_reward_w: 0.5 |
| tau: 0.95 |
| train_dir: output/HumanoidIm/T2mFinetune |
| truncate_grads: true |
| load_checkpoint: true |
| load_path: output/HumanoidIm/T2mFinetune/Humanoid_00061500.pth |
| model: &id024 !!python/object/new:easydict.EasyDict |
| dictitems: |
| name: amp |
| state: |
| name: amp |
| network: &id025 !!python/object/new:easydict.EasyDict |
| dictitems: |
| adapt_actor: true |
| adapt_critic: false |
| disc: &id019 !!python/object/new:easydict.EasyDict |
| dictitems: |
| activation: relu |
| initializer: &id011 !!python/object/new:easydict.EasyDict |
| dictitems: |
| name: default |
| state: |
| name: default |
| units: &id012 |
| - 1024 |
| - 512 |
| state: |
| activation: relu |
| initializer: *id011 |
| units: *id012 |
| mlp: &id020 !!python/object/new:easydict.EasyDict |
| dictitems: |
| activation: silu |
| d2rl: false |
| initializer: &id013 !!python/object/new:easydict.EasyDict |
| dictitems: |
| name: default |
| state: |
| name: default |
| regularizer: &id014 !!python/object/new:easydict.EasyDict |
| dictitems: |
| name: None |
| state: |
| name: None |
| split_after_layer: 0 |
| units: &id015 |
| - 2048 |
| - 1536 |
| - 1024 |
| - 1024 |
| - 512 |
| - 512 |
| state: |
| activation: silu |
| d2rl: false |
| initializer: *id013 |
| regularizer: *id014 |
| split_after_layer: 0 |
| units: *id015 |
| name: amp_adapt |
| separate: true |
| space: &id021 !!python/object/new:easydict.EasyDict |
| dictitems: |
| continuous: &id018 !!python/object/new:easydict.EasyDict |
| dictitems: |
| fixed_sigma: true |
| learn_sigma: false |
| mu_activation: None |
| mu_init: &id016 !!python/object/new:easydict.EasyDict |
| dictitems: |
| name: default |
| state: |
| name: default |
| sigma_activation: None |
| sigma_init: &id017 !!python/object/new:easydict.EasyDict |
| dictitems: |
| name: const_initializer |
| val: -2.9 |
| state: |
| name: const_initializer |
| val: -2.9 |
| state: |
| fixed_sigma: true |
| learn_sigma: false |
| mu_activation: None |
| mu_init: *id016 |
| sigma_activation: None |
| sigma_init: *id017 |
| state: |
| continuous: *id018 |
| state: |
| adapt_actor: true |
| adapt_critic: false |
| disc: *id019 |
| mlp: *id020 |
| name: amp_adapt |
| separate: true |
| space: *id021 |
| seed: 0 |
| state: |
| algo: *id022 |
| config: *id023 |
| load_checkpoint: true |
| load_path: output/HumanoidIm/T2mFinetune/Humanoid_00061500.pth |
| model: *id024 |
| network: *id025 |
| seed: 0 |
| state: |
| params: *id026 |
| metadata: false |
| no_log: false |
| no_virtual_display: true |
| notes: Default Notes |
| num_threads: 64 |
| output_path: output/HumanoidIm/T2mFinetune |
| play: true |
| project_name: PHC |
| real_traj: false |
| render_o3d: false |
| resume_str: null |
| rl_device: cuda:0 |
| robot: &id032 !!python/object/new:easydict.EasyDict |
| dictitems: |
| asset: &id027 !!python/object/new:easydict.EasyDict |
| dictitems: |
| assetFileName: mjcf/smpl_humanoid.xml |
| assetRoot: / |
| state: |
| assetFileName: mjcf/smpl_humanoid.xml |
| assetRoot: / |
| bias_offset: false |
| big_ankle: true |
| box_body: true |
| freeze_hand: false |
| freeze_toe: false |
| has_dof_subset: true |
| has_jt_limit: false |
| has_mesh: false |
| has_self_collision: true |
| has_shape_obs: false |
| has_shape_obs_disc: false |
| has_shape_variation: false |
| has_smpl_pd_offset: false |
| has_upright_start: true |
| humanoid_type: smpl |
| masterfoot: false |
| motion_sym_loss: false |
| real_weight: true |
| real_weight_porpotion_boxes: true |
| real_weight_porpotion_capsules: true |
| remove_toe: false |
| sym_loss_coef: 1 |
| state: |
| asset: *id027 |
| bias_offset: false |
| big_ankle: true |
| box_body: true |
| freeze_hand: false |
| freeze_toe: false |
| has_dof_subset: true |
| has_jt_limit: false |
| has_mesh: false |
| has_self_collision: true |
| has_shape_obs: false |
| has_shape_obs_disc: false |
| has_shape_variation: false |
| has_smpl_pd_offset: false |
| has_upright_start: true |
| humanoid_type: smpl |
| masterfoot: false |
| motion_sym_loss: false |
| real_weight: true |
| real_weight_porpotion_boxes: true |
| real_weight_porpotion_capsules: true |
| remove_toe: false |
| sym_loss_coef: 1 |
| seed: -1 |
| server_mode: false |
| sim: &id033 !!python/object/new:easydict.EasyDict |
| dictitems: |
| flex: &id028 !!python/object/new:easydict.EasyDict |
| dictitems: |
| num_inner_iterations: 10 |
| warm_start: 0.25 |
| state: |
| num_inner_iterations: 10 |
| warm_start: 0.25 |
| graphics_device_id: 0 |
| physx: &id029 !!python/object/new:easydict.EasyDict |
| dictitems: |
| bounce_threshold_velocity: 0.2 |
| contact_offset: 0.02 |
| default_buffer_size_multiplier: 10.0 |
| max_depenetration_velocity: 10.0 |
| num_position_iterations: 4 |
| num_threads: 4 |
| num_velocity_iterations: 0 |
| rest_offset: 0.0 |
| solver_type: 1 |
| state: |
| bounce_threshold_velocity: 0.2 |
| contact_offset: 0.02 |
| default_buffer_size_multiplier: 10.0 |
| max_depenetration_velocity: 10.0 |
| num_position_iterations: 4 |
| num_threads: 4 |
| num_velocity_iterations: 0 |
| rest_offset: 0.0 |
| solver_type: 1 |
| pipeline: gpu |
| sim_device: cuda:0 |
| slices: 0 |
| subscenes: 0 |
| substeps: 2 |
| use_flex: false |
| state: |
| flex: *id028 |
| graphics_device_id: 0 |
| physx: *id029 |
| pipeline: gpu |
| sim_device: cuda:0 |
| slices: 0 |
| subscenes: 0 |
| substeps: 2 |
| use_flex: false |
| test: true |
| torch_deterministic: false |
| train: false |
| state: |
| add_proj: false |
| debug: false |
| device: cuda |
| device_id: 0 |
| device_type: cuda |
| dimp_eval: false |
| env: *id030 |
| epoch: 61500 |
| exp_name: T2mFinetune |
| follow: true |
| has_eval: true |
| headless: true |
| horovod: false |
| im_eval: false |
| learning: *id031 |
| metadata: false |
| no_log: false |
| no_virtual_display: true |
| notes: Default Notes |
| num_threads: 64 |
| output_path: output/HumanoidIm/T2mFinetune |
| play: true |
| project_name: PHC |
| real_traj: false |
| render_o3d: false |
| resume_str: null |
| rl_device: cuda:0 |
| robot: *id032 |
| seed: -1 |
| server_mode: false |
| sim: *id033 |
| test: true |
| torch_deterministic: false |
| train: false |
|
|
