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Robotics_Data_Engine
/
phantom
/submodules
/phantom-robomimic
/robomimic
/exps
/templates
/iris.json
| { | |
| "algo_name": "iris", | |
| "experiment": { | |
| "name": "test", | |
| "validate": false, | |
| "logging": { | |
| "terminal_output_to_txt": true, | |
| "log_tb": true, | |
| "log_wandb": false, | |
| "wandb_proj_name": "debug" | |
| }, | |
| "save": { | |
| "enabled": true, | |
| "every_n_seconds": null, | |
| "every_n_epochs": 50, | |
| "epochs": [], | |
| "on_best_validation": false, | |
| "on_best_rollout_return": false, | |
| "on_best_rollout_success_rate": true | |
| }, | |
| "epoch_every_n_steps": 100, | |
| "validation_epoch_every_n_steps": 10, | |
| "env": null, | |
| "additional_envs": null, | |
| "render": false, | |
| "render_video": true, | |
| "keep_all_videos": false, | |
| "video_skip": 5, | |
| "rollout": { | |
| "enabled": true, | |
| "n": 50, | |
| "horizon": 400, | |
| "rate": 50, | |
| "warmstart": 0, | |
| "terminate_on_success": true | |
| } | |
| }, | |
| "train": { | |
| "data": null, | |
| "output_dir": "../iris_trained_models", | |
| "num_data_workers": 0, | |
| "hdf5_cache_mode": "all", | |
| "hdf5_use_swmr": true, | |
| "hdf5_load_next_obs": true, | |
| "hdf5_normalize_obs": false, | |
| "hdf5_filter_key": null, | |
| "hdf5_validation_filter_key": null, | |
| "seq_length": 10, | |
| "pad_seq_length": true, | |
| "frame_stack": 1, | |
| "pad_frame_stack": true, | |
| "dataset_keys": [ | |
| "actions", | |
| "rewards", | |
| "dones" | |
| ], | |
| "goal_mode": null, | |
| "cuda": true, | |
| "batch_size": 100, | |
| "num_epochs": 2000, | |
| "seed": 1 | |
| }, | |
| "algo": { | |
| "mode": "separate", | |
| "actor_use_random_subgoals": false, | |
| "subgoal_update_interval": 10, | |
| "latent_subgoal": { | |
| "enabled": false, | |
| "prior_correction": { | |
| "enabled": false, | |
| "num_samples": 100 | |
| } | |
| }, | |
| "value_planner": { | |
| "planner": { | |
| "optim_params": { | |
| "goal_network": { | |
| "learning_rate": { | |
| "initial": 0.0001, | |
| "decay_factor": 0.1, | |
| "epoch_schedule": [] | |
| }, | |
| "regularization": { | |
| "L2": 0.0 | |
| } | |
| } | |
| }, | |
| "subgoal_horizon": 10, | |
| "ae": { | |
| "planner_layer_dims": [ | |
| 300, | |
| 400 | |
| ] | |
| }, | |
| "vae": { | |
| "enabled": true, | |
| "latent_dim": 16, | |
| "latent_clip": null, | |
| "kl_weight": 1.0, | |
| "decoder": { | |
| "is_conditioned": true, | |
| "reconstruction_sum_across_elements": false | |
| }, | |
| "prior": { | |
| "learn": false, | |
| "is_conditioned": false, | |
| "use_gmm": false, | |
| "gmm_num_modes": 10, | |
| "gmm_learn_weights": false, | |
| "use_categorical": false, | |
| "categorical_dim": 10, | |
| "categorical_gumbel_softmax_hard": false, | |
| "categorical_init_temp": 1.0, | |
| "categorical_temp_anneal_step": 0.001, | |
| "categorical_min_temp": 0.3 | |
| }, | |
| "encoder_layer_dims": [ | |
| 300, | |
| 400 | |
| ], | |
| "decoder_layer_dims": [ | |
| 300, | |
| 400 | |
| ], | |
| "prior_layer_dims": [ | |
| 300, | |
| 400 | |
| ] | |
| } | |
| }, | |
| "value": { | |
| "optim_params": { | |
| "critic": { | |
| "learning_rate": { | |
| "initial": 0.001, | |
| "decay_factor": 0.1, | |
| "epoch_schedule": [] | |
| }, | |
| "regularization": { | |
| "L2": 0.0 | |
| }, | |
| "start_epoch": -1, | |
| "end_epoch": -1 | |
| }, | |
| "action_sampler": { | |
| "learning_rate": { | |
| "initial": 0.001, | |
| "decay_factor": 0.1, | |
| "epoch_schedule": [] | |
| }, | |
| "regularization": { | |
| "L2": 0.0 | |
| }, | |
| "start_epoch": -1, | |
| "end_epoch": -1 | |
| }, | |
| "actor": { | |
| "learning_rate": { | |
| "initial": 0.001, | |
| "decay_factor": 0.1, | |
| "epoch_schedule": [] | |
| }, | |
| "regularization": { | |
| "L2": 0.0 | |
| }, | |
| "start_epoch": -1, | |
| "end_epoch": -1 | |
| } | |
| }, | |
| "discount": 0.99, | |
| "n_step": 1, | |
| "target_tau": 0.005, | |
| "infinite_horizon": false, | |
| "critic": { | |
| "use_huber": false, | |
| "max_gradient_norm": null, | |
| "value_bounds": null, | |
| "num_action_samples": 10, | |
| "num_action_samples_rollout": 100, | |
| "ensemble": { | |
| "n": 2, | |
| "weight": 0.75 | |
| }, | |
| "distributional": { | |
| "enabled": false, | |
| "num_atoms": 51 | |
| }, | |
| "layer_dims": [ | |
| 300, | |
| 400 | |
| ] | |
| }, | |
| "action_sampler": { | |
| "actor_layer_dims": [ | |
| 1024, | |
| 1024 | |
| ], | |
| "gmm": { | |
| "enabled": false, | |
| "num_modes": 5, | |
| "min_std": 0.0001, | |
| "std_activation": "softplus", | |
| "low_noise_eval": true | |
| }, | |
| "vae": { | |
| "enabled": true, | |
| "latent_dim": 14, | |
| "latent_clip": null, | |
| "kl_weight": 1.0, | |
| "decoder": { | |
| "is_conditioned": true, | |
| "reconstruction_sum_across_elements": false | |
| }, | |
| "prior": { | |
| "learn": false, | |
| "is_conditioned": false, | |
| "use_gmm": false, | |
| "gmm_num_modes": 10, | |
| "gmm_learn_weights": false, | |
| "use_categorical": false, | |
| "categorical_dim": 10, | |
| "categorical_gumbel_softmax_hard": false, | |
| "categorical_init_temp": 1.0, | |
| "categorical_temp_anneal_step": 0.001, | |
| "categorical_min_temp": 0.3 | |
| }, | |
| "encoder_layer_dims": [ | |
| 300, | |
| 400 | |
| ], | |
| "decoder_layer_dims": [ | |
| 300, | |
| 400 | |
| ], | |
| "prior_layer_dims": [ | |
| 300, | |
| 400 | |
| ] | |
| }, | |
| "freeze_encoder_epoch": -1 | |
| }, | |
| "actor": { | |
| "enabled": false, | |
| "perturbation_scale": 0.05, | |
| "layer_dims": [ | |
| 300, | |
| 400 | |
| ] | |
| } | |
| }, | |
| "num_samples": 100 | |
| }, | |
| "actor": { | |
| "optim_params": { | |
| "policy": { | |
| "optimizer_type": "adam", | |
| "learning_rate": { | |
| "initial": 0.0001, | |
| "decay_factor": 0.1, | |
| "epoch_schedule": [], | |
| "scheduler_type": "multistep" | |
| }, | |
| "regularization": { | |
| "L2": 0.0 | |
| } | |
| } | |
| }, | |
| "loss": { | |
| "l2_weight": 1.0, | |
| "l1_weight": 0.0, | |
| "cos_weight": 0.0 | |
| }, | |
| "actor_layer_dims": [ | |
| 1024, | |
| 1024 | |
| ], | |
| "rnn": { | |
| "enabled": true, | |
| "horizon": 10, | |
| "hidden_dim": 400, | |
| "rnn_type": "LSTM", | |
| "num_layers": 2, | |
| "open_loop": false, | |
| "kwargs": { | |
| "bidirectional": false | |
| } | |
| }, | |
| "transformer": { | |
| "enabled": false, | |
| "context_length": 10, | |
| "embed_dim": 512, | |
| "num_layers": 6, | |
| "num_heads": 8, | |
| "emb_dropout": 0.1, | |
| "attn_dropout": 0.1, | |
| "block_output_dropout": 0.1, | |
| "sinusoidal_embedding": false, | |
| "activation": "gelu", | |
| "supervise_all_steps": false, | |
| "nn_parameter_for_timesteps": true | |
| } | |
| } | |
| }, | |
| "observation": { | |
| "value_planner": { | |
| "planner": { | |
| "modalities": { | |
| "obs": { | |
| "low_dim": [ | |
| "robot0_eef_pos", | |
| "robot0_eef_quat", | |
| "robot0_gripper_qpos", | |
| "object" | |
| ], | |
| "rgb": [], | |
| "depth": [], | |
| "scan": [] | |
| }, | |
| "goal": { | |
| "low_dim": [], | |
| "rgb": [], | |
| "depth": [], | |
| "scan": [] | |
| }, | |
| "subgoal": { | |
| "low_dim": [ | |
| "robot0_eef_pos", | |
| "robot0_eef_quat", | |
| "robot0_gripper_qpos", | |
| "object" | |
| ], | |
| "rgb": [], | |
| "depth": [], | |
| "scan": [] | |
| } | |
| }, | |
| "encoder": { | |
| "low_dim": { | |
| "core_class": null, | |
| "core_kwargs": {}, | |
| "obs_randomizer_class": null, | |
| "obs_randomizer_kwargs": {} | |
| }, | |
| "rgb": { | |
| "core_class": "VisualCore", | |
| "core_kwargs": {}, | |
| "obs_randomizer_class": null, | |
| "obs_randomizer_kwargs": {} | |
| }, | |
| "depth": { | |
| "core_class": "VisualCore", | |
| "core_kwargs": {}, | |
| "obs_randomizer_class": null, | |
| "obs_randomizer_kwargs": {} | |
| }, | |
| "scan": { | |
| "core_class": "ScanCore", | |
| "core_kwargs": {}, | |
| "obs_randomizer_class": null, | |
| "obs_randomizer_kwargs": {} | |
| } | |
| } | |
| }, | |
| "value": { | |
| "modalities": { | |
| "obs": { | |
| "low_dim": [ | |
| "robot0_eef_pos", | |
| "robot0_eef_quat", | |
| "robot0_gripper_qpos", | |
| "object" | |
| ], | |
| "rgb": [], | |
| "depth": [], | |
| "scan": [] | |
| }, | |
| "goal": { | |
| "low_dim": [], | |
| "rgb": [], | |
| "depth": [], | |
| "scan": [] | |
| } | |
| }, | |
| "encoder": { | |
| "low_dim": { | |
| "core_class": null, | |
| "core_kwargs": {}, | |
| "obs_randomizer_class": null, | |
| "obs_randomizer_kwargs": {} | |
| }, | |
| "rgb": { | |
| "core_class": "VisualCore", | |
| "core_kwargs": {}, | |
| "obs_randomizer_class": null, | |
| "obs_randomizer_kwargs": {} | |
| }, | |
| "depth": { | |
| "core_class": "VisualCore", | |
| "core_kwargs": {}, | |
| "obs_randomizer_class": null, | |
| "obs_randomizer_kwargs": {} | |
| }, | |
| "scan": { | |
| "core_class": "ScanCore", | |
| "core_kwargs": {}, | |
| "obs_randomizer_class": null, | |
| "obs_randomizer_kwargs": {} | |
| } | |
| } | |
| } | |
| }, | |
| "actor": { | |
| "modalities": { | |
| "obs": { | |
| "low_dim": [ | |
| "robot0_eef_pos", | |
| "robot0_eef_quat", | |
| "robot0_gripper_qpos", | |
| "object" | |
| ], | |
| "rgb": [], | |
| "depth": [], | |
| "scan": [] | |
| }, | |
| "goal": { | |
| "low_dim": [], | |
| "rgb": [], | |
| "depth": [], | |
| "scan": [] | |
| } | |
| }, | |
| "encoder": { | |
| "low_dim": { | |
| "core_class": null, | |
| "core_kwargs": {}, | |
| "obs_randomizer_class": null, | |
| "obs_randomizer_kwargs": {} | |
| }, | |
| "rgb": { | |
| "core_class": "VisualCore", | |
| "core_kwargs": {}, | |
| "obs_randomizer_class": null, | |
| "obs_randomizer_kwargs": {} | |
| }, | |
| "depth": { | |
| "core_class": "VisualCore", | |
| "core_kwargs": {}, | |
| "obs_randomizer_class": null, | |
| "obs_randomizer_kwargs": {} | |
| }, | |
| "scan": { | |
| "core_class": "ScanCore", | |
| "core_kwargs": {}, | |
| "obs_randomizer_class": null, | |
| "obs_randomizer_kwargs": {} | |
| } | |
| } | |
| } | |
| }, | |
| "meta": { | |
| "hp_base_config_file": null, | |
| "hp_keys": [], | |
| "hp_values": [] | |
| } | |
| } |