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grad_clip: 100.0, layers: 2, lr: 3e-05, + max_std: 1.0, min_std: 0.1, outscale: 1.0, std: learned, temp: 0.1, unimix_ratio: 0.01} +actor_only_scale: 0.0 +annealing: null +architecture: [100, 100] +augment_images: false +batch_length: 64 +batch_size: 16 +bc_loss_only: false +bc_reg: true +bc_reg_wd: 1.0 +bc_reg_weight: 1.0 +checkPeriod: 10000 +classifier_batch_length: 1500 +classifier_batch_size: 32 +classifier_epoch: 50 +classifier_latent_mode: all +classifier_mode: split +classifier_padding_mode: last +compile: true +consRadius: 0.5 +cont_ensemble_size: 1 +cont_ensemble_subsample: 1 +cont_head: {layers: 2, loss_scale: 1.0, outscale: 1.0} +costType: sparse +critic: {dist: symlog_disc, eps: 1e-05, grad_clip: 100.0, layers: 2, lr: 3e-05, outscale: 0.0, + slow_target: true, slow_target_fraction: 0.02, slow_target_update: 1} +critic_ensemble_size: 1 +critic_ensemble_subsample: 2 +critic_reset_every: 0 +dataset_size: 1000000 +debug: false +decay_model_lr: false +decoder: {act: SiLU, cnn_depth: 32, cnn_keys: .*image.*, cnn_sigmoid: false, image_dist: mse, + kernel_size: 4, minres: 4, mlp_keys: state, mlp_layers: 5, mlp_units: 1024, norm: true, + outscale: 1.0, vector_dist: symlog_mse} +deterministic_run: true +device: cuda:0 +disag_action_cond: false +disag_layers: 4 +disag_log: true +disag_models: 10 +disag_offset: 1 +disag_target: stoch +disag_units: 400 +discount: 0.997 +discount_lambda: 0.95 +doneType: toEnd +done_mode: 0 +dropout_recur_in_residuals: false +dropout_recurrent_prob: 0 +dt: 0.05 +dyn_deter: 512 +dyn_discrete: 0 +dyn_hidden: 512 +dyn_mean_act: none +dyn_min_std: 0.1 +dyn_rec_depth: 1 +dyn_scale: 0.5 +dyn_std_act: sigmoid2 +dyn_stoch: 32 +ema_decay: 0.999 +ema_power: 0.8 +encoder: {act: SiLU, cnn_depth: 32, cnn_keys: .*image.*, kernel_size: 4, minres: 4, + mlp_keys: state, mlp_layers: 5, mlp_units: 1024, norm: true, symlog_inputs: true} +ensemble_residuals: false +envs: 1 +eval_every: 500 +eval_num_seeds: 50 +eval_per_seed: 1 +eval_state_mean: false 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51 +obs_keys: [cam_front_view_image, cam_wrist_view_image] +obs_lr: 0.001 +obs_r: 0.5 +obs_step: 1 +obs_x: 0 +obs_y: 0 +observation_space: + cam_front_view_image: [64, 64, 3] + cam_wrist_view_image: [64, 64, 3] + discount: [1] + state: [8] +offline_evaldir: '' +offline_traindir: '' +opt: adam +opt_eps: 1e-08 +outFolder: logs/experiments +parallel: false +plotFigure: null +precision: 32 +prefill: 5000 +pretrain: 100 +pretrain_actor_steps: 0 +pretrain_annealing: null +pretrain_bc_loss_only: true +pretrain_ema: false +pretrain_joint_steps: 150000 +pretrain_loss: ce +pretrain_on_random: false +pretrain_on_random_mixed: false +pretrain_reward_val: null +pretrain_separately: false +randomSeed: 0 +recon_pretrain: true +rep_scale: 0.1 +reset_every: 0 +residual_discount: 0.95 +residual_init_zeros: false +reward_EMA: true +reward_ensemble_size: 1 +reward_ensemble_subsample: 1 +reward_head: {dist: symlog_disc, layers: 2, loss_scale: 1.0, outscale: 0.0} +root_dir: 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2, lr: 3e-05, outscale: 0.0, + slow_target: true, slow_target_fraction: 0.02, slow_target_update: 1} +critic_ensemble_size: 1 +critic_ensemble_subsample: 2 +critic_reset_every: 0 +dataset_size: 1000000 +debug: false +decay_model_lr: false +decoder: {act: SiLU, cnn_depth: 32, cnn_keys: .*image.*, cnn_sigmoid: false, image_dist: mse, + kernel_size: 4, minres: 4, mlp_keys: state, mlp_layers: 5, mlp_units: 1024, norm: true, + outscale: 1.0, vector_dist: symlog_mse} +deterministic_run: true +device: cuda:0 +disag_action_cond: false +disag_layers: 4 +disag_log: true +disag_models: 10 +disag_offset: 1 +disag_target: stoch +disag_units: 400 +discount: 0.997 +discount_lambda: 0.95 +doneType: toEnd +done_mode: 0 +dropout_recur_in_residuals: false +dropout_recurrent_prob: 0 +dt: 0.05 +dyn_deter: 512 +dyn_discrete: 0 +dyn_hidden: 512 +dyn_mean_act: none +dyn_min_std: 0.1 +dyn_rec_depth: 1 +dyn_scale: 0.5 +dyn_std_act: sigmoid2 +dyn_stoch: 32 +ema_decay: 0.999 +ema_power: 0.8 +encoder: {act: SiLU, cnn_depth: 32, cnn_keys: .*image.*, kernel_size: 4, minres: 4, + mlp_keys: state, mlp_layers: 5, mlp_units: 1024, norm: true, symlog_inputs: true} +ensemble_residuals: false +envs: 1 +eval_every: 500 +eval_num_seeds: 50 +eval_per_seed: 1 +eval_state_mean: false +evaldir: null +exp_name: wm_real_cup +expl_behavior: greedy +expl_extr_scale: 0.0 +expl_intr_scale: 1.0 +expl_until: 0 +freeze_encoder: true +from_ckpt: null +from_prefill_dir: null +gamma: 0.9999 +grad_clip: 1000 +grad_heads: [decoder, cont] +grayscale: false +grid_path: /home/kensuke/latent-safety/logs/grid/LS_BRT_v1_w1.25.npy +gt_lx: false +hybrid_critic_fitting: false +hybrid_training: true +ignore_base_policy: false +imag_gradient: dynamics +imag_gradient_mix: 0.0 +imag_horizon: 15 +image: null +image_size: 64 +initial: learned +initial_joint_train_steps: 0 +kl_free: 1.0 +learnedDyn: null +learnedMargin: null +learningRate: 0.001 +log_every: 100 +log_every_video: 2000 +logdir: logs/dreamer_cont/1229/222731 +mask_recur: false +maxUpdates: 400000 +memoryCapacity: 10000 +mode: RA +model_lr: 0.0001 +model_only_scale: 0.0 +multi_task_data: false +name: world_model_new +no_joint_steps: false +norm: true +numT: 25 +num_actions: 3 +num_exp_trajs: 300 +num_pts: 5000 +nx: 51 +ny: 51 +nz: 51 +obs_keys: [cam_front_view_image, cam_wrist_view_image] +obs_lr: 0.001 +obs_r: 0.5 +obs_step: 1 +obs_x: 0 +obs_y: 0 +observation_space: + cam_front_view_image: [64, 64, 3] + cam_wrist_view_image: [64, 64, 3] + discount: [1] + state: [8] +offline_evaldir: '' +offline_traindir: '' +opt: adam +opt_eps: 1e-08 +outFolder: logs/experiments +parallel: false +plotFigure: null +precision: 32 +prefill: 5000 +pretrain: 100 +pretrain_actor_steps: 0 +pretrain_annealing: null +pretrain_bc_loss_only: true +pretrain_ema: false +pretrain_joint_steps: 150000 +pretrain_loss: ce +pretrain_on_random: false +pretrain_on_random_mixed: false +pretrain_reward_val: null +pretrain_separately: false +randomSeed: 0 +recon_pretrain: true +rep_scale: 0.1 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eps: 1e-05, grad_clip: 100.0, layers: 2, lr: 3e-05, outscale: 0.0, + slow_target: true, slow_target_fraction: 0.02, slow_target_update: 1} +critic_ensemble_size: 1 +critic_ensemble_subsample: 2 +critic_reset_every: 0 +data_range: all +dataset_size: 1000000 +debug: false +decay_model_lr: false +decoder: {act: SiLU, cnn_depth: 32, cnn_keys: .*image.*, cnn_sigmoid: false, image_dist: mse, + kernel_size: 4, minres: 4, mlp_keys: state, mlp_layers: 5, mlp_units: 1024, norm: true, + outscale: 1.0, vector_dist: symlog_mse} +deterministic_run: true +device: cuda:0 +disag_action_cond: false +disag_layers: 4 +disag_log: true +disag_models: 10 +disag_offset: 1 +disag_target: stoch +disag_units: 400 +discount: 0.997 +discount_lambda: 0.95 +doneType: toEnd +done_mode: 0 +dropout_recur_in_residuals: false +dropout_recurrent_prob: 0 +dt: 0.05 +dyn_deter: 512 +dyn_discrete: 0 +dyn_hidden: 512 +dyn_mean_act: none +dyn_min_std: 0.1 +dyn_rec_depth: 1 +dyn_scale: 0.5 +dyn_std_act: sigmoid2 +dyn_stoch: 32 +ema_decay: 0.999 +ema_power: 0.8 +encoder: {act: SiLU, cnn_depth: 32, cnn_keys: .*image.*, kernel_size: 4, minres: 4, + mlp_keys: state, mlp_layers: 5, mlp_units: 1024, norm: true, symlog_inputs: true} +ensemble_residuals: false +envs: 1 +eval_every: 500 +eval_num_seeds: 50 +eval_per_seed: 1 +eval_state_mean: false +evaldir: null +exp_name: wm_real_fork +expl_behavior: greedy +expl_extr_scale: 0.0 +expl_intr_scale: 1.0 +expl_until: 0 +freeze_encoder: true +from_ckpt: null +from_prefill_dir: null +gamma: 0.9999 +grad_clip: 1000 +grad_heads: [decoder, cont] +grayscale: false +grid_path: /home/kensuke/latent-safety/logs/grid/LS_BRT_v1_w1.25.npy +gt_lx: false +hybrid_critic_fitting: false +hybrid_training: true +ignore_base_policy: false +imag_gradient: dynamics +imag_gradient_mix: 0.0 +imag_horizon: 15 +image: null +image_size: 64 +initial: learned +initial_joint_train_steps: 0 +kl_free: 1.0 +learnedDyn: null +learnedMargin: null +learningRate: 0.001 +log_every: 100 +log_every_video: 2000 +logdir: logs/dreamer_cont/0127/215329 +mask_recur: false +maxUpdates: 400000 +memoryCapacity: 10000 +mode: RA +model_lr: 0.0001 +model_only_scale: 0.0 +multi_task_data: false +name: world_model_new +no_joint_steps: false +norm: true +numT: 25 +num_actions: 3 +num_exp_trajs: 300 +num_pts: 5000 +nx: 51 +ny: 51 +nz: 51 +obs_keys: [cam_front_view_image, cam_wrist_view_image] +obs_lr: 0.001 +obs_r: 0.5 +obs_step: 1 +obs_x: 0 +obs_y: 0 +observation_space: + cam_front_view_image: [64, 64, 3] + cam_wrist_view_image: [64, 64, 3] + discount: [1] + state: [8] +offline_evaldir: '' +offline_traindir: '' +opt: adam +opt_eps: 1e-08 +outFolder: logs/experiments +parallel: false +plotFigure: null +precision: 32 +prefill: 5000 +pretrain: 100 +pretrain_actor_steps: 0 +pretrain_annealing: null +pretrain_bc_loss_only: true +pretrain_ema: false +pretrain_joint_steps: 250000 +pretrain_loss: ce +pretrain_on_random: false +pretrain_on_random_mixed: false +pretrain_reward_val: null +pretrain_separately: 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