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config.yaml

@@ -13,7 +13,7 @@ save_train_video: true
 use_tb: true
 use_wandb: true
 wandb_run_id: '36313_0'
-wandb_notes: 36313_0_restarted_4
+wandb_notes: 36313_0_req_50127_0
 eval: false
 eval_on_sim: true
 simulation: true
@@ -115,7 +115,7 @@ snapshot_root_dir: /mnt/grasp_high_usage/leonmkim/contact_estimation/FISH
 save_snapshot: true
 save_last_snapshot: true
 save_snapshot_when_done: true
-top_k_checkpoints: 5
+top_k_checkpoints: 10
 save_snapshot_link_to_weights_dir: deprecated
 restore_missing_checkpoint: null
 bc_regularize: false
@@ -309,6 +309,8 @@ agent:
       contact_model_name: ${contact_model_name}
       zero_centered: false
       crop_distractors_tlhw: ${agent.config.policy_cfg.crop_distractors_tlhw}
+    deterministic_actions: true
+    deterministic_actions_seed: 0
 suite:
   suite: frankagym
   name: frankagym
@@ -319,15 +321,15 @@ suite:
   num_train_frames: 1000000
   num_seed_frames: 0
   num_train_epochs: 500
-  validate_every_epochs: 25
-  eval_on_sim_every_epochs: 25
-  validate_diffusion_on_action_loss_every_epochs: 25
+  validate_every_epochs: 20
+  eval_on_sim_every_epochs: 20
+  validate_diffusion_on_action_loss_every_epochs: 20
   eval_on_sim_every_epochs_diffusion: 500
-  train_eval_diffusion_on_action_loss_every_epochs: 25
-  check_topk_every_epochs: 25
-  save_snapshot_every_epochs: 50
-  num_seen_eval_envs: 25
-  num_unseen_eval_envs: 25
+  train_eval_diffusion_on_action_loss_every_epochs: 20
+  check_topk_every_epochs: 20
+  save_snapshot_every_epochs: 20
+  num_seen_eval_envs: 0
+  num_unseen_eval_envs: 100
   evals_per_env: 1
   eval_every_frames: 2000
   num_eval_episodes: 5
@@ -525,6 +527,8 @@ suite:
         contact_model_name: ${contact_model_name}
         zero_centered: false
         crop_distractors_tlhw: ${agent.config.policy_cfg.crop_distractors_tlhw}
+      deterministic_actions: true
+      deterministic_actions_seed: 0
     true_action_history: ${true_action_history}
 num_train_frames_bc: 50000
 num_train_frames_drq: 1100000
@@ -535,13 +539,13 @@ num_train_frames_diffusion: 1000000
 num_train_epochs_bc: 5000
 num_train_epochs_diffusion: 500
 validate_every_epochs_bc: 5
-validate_every_epochs_diffusion: 25
-validate_diffusion_on_action_loss_every_epochs: 25
-train_eval_diffusion_on_action_loss_every_epochs: 25
-eval_on_sim_every_epochs_diffusion: 25
+validate_every_epochs_diffusion: 20
+validate_diffusion_on_action_loss_every_epochs: 20
+train_eval_diffusion_on_action_loss_every_epochs: 20
+eval_on_sim_every_epochs_diffusion: 20
 check_topk_every_epochs: 5
-check_topk_every_epochs_diffusion: 25
-save_snapshot_every_epochs_diffusion: 50
+check_topk_every_epochs_diffusion: 20
+save_snapshot_every_epochs_diffusion: 40
 x_limit:
 - 0.2
 - 0.7
@@ -585,3 +589,6 @@ test:
   local_snapshot_dir: ${test.local_snapshot_root_dir}/exp_local/${suite.name}_${obs_type}/${task_name}
   resume_wandb_run: false
 feature_type: 180x240_1_RGB_D_2.0_cntct_1.0_gt_contact_acthist_hst4_out32_dwnkrnl3_dwnstrd2_dwnpd1
+eval_on_sim_past_checkpoints: false
+universal_unseen_env_seed_start: 1000000
+restore_and_eval_all_missing_checkpoints: true

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