Upload config.json
Browse files- config.json +270 -0
config.json
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| 1 |
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{
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| 2 |
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"algo_name": "bc",
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| 3 |
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"config": {
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| 4 |
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"algo_name": "bc",
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| 5 |
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"experiment": {
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| 6 |
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"name": "drp_robomimic",
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| 7 |
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"validate": false,
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| 8 |
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"logging": {
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| 9 |
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"terminal_output_to_txt": false,
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| 10 |
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"log_tb": true,
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| 11 |
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"log_wandb": true,
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| 12 |
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"wandb_proj_name": "neural_mp"
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| 13 |
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},
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| 14 |
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"save": {
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| 15 |
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"enabled": true,
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| 16 |
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"every_n_seconds": null,
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| 17 |
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"every_n_epochs": 500,
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| 18 |
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"epochs": [],
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| 19 |
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"on_best_validation": false,
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| 20 |
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"on_best_rollout_return": false,
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| 21 |
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"on_best_rollout_success_rate": true
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| 22 |
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},
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| 23 |
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"epoch_every_n_steps": 1000,
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| 24 |
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"validation_epoch_every_n_steps": 1000,
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| 25 |
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"env": null,
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| 26 |
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"additional_envs": null,
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| 27 |
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"render": false,
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| 28 |
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"render_video": true,
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| 29 |
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"keep_all_videos": true,
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| 30 |
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"video_skip": 5,
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| 31 |
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"rollout": {
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| 32 |
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"enabled": true,
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| 33 |
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"n": 25,
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| 34 |
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"horizon": 150,
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| 35 |
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"rate": 500,
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| 36 |
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"warmstart": 0,
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| 37 |
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"terminate_on_success": true,
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| 38 |
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"evaluate_on_dataset": false,
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| 39 |
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"evaluate_on_dataset_filter_key": "valid"
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| 40 |
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},
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| 41 |
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"pcd_params": {
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| 42 |
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"num_robot_points": 2048,
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| 43 |
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"num_obstacle_points": 4096,
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| 44 |
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"target_pcd_type": "joint",
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| 45 |
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"noise_scale": 0.0,
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| 46 |
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"normalize_joint_angles": false,
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| 47 |
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"relabel_goal_angles": false
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| 48 |
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},
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| 49 |
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"num_envs": 20
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| 50 |
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},
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| 51 |
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"train": {
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| 52 |
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"pad_same": true,
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| 53 |
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"data": "/home/jiahuiya/Neural_MP_Proj/neural_mp/datasets/v1_400k.hdf5",
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| 54 |
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"output_dir": "logs/mp/trained_models",
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| 55 |
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"num_data_workers": 16,
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| 56 |
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"hdf5_cache_mode": null,
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| 57 |
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"hdf5_use_swmr": true,
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| 58 |
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"hdf5_load_next_obs": false,
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| 59 |
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"hdf5_normalize_obs": false,
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| 60 |
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"hdf5_filter_key": "train",
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| 61 |
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"hdf5_validation_filter_key": null,
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| 62 |
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"seq_length": 2,
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| 63 |
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"pad_seq_length": true,
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| 64 |
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"frame_stack": 1,
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| 65 |
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"pad_frame_stack": true,
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| 66 |
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"dataset_keys": [
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| 67 |
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"actions"
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| 68 |
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],
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| 69 |
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"goal_mode": null,
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| 70 |
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"cuda": true,
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| 71 |
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"batch_size": 16,
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| 72 |
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"num_epochs": 10000,
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| 73 |
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"seed": 1
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| 74 |
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},
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| 75 |
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"algo": {
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| 76 |
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"optim_params": {
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| 77 |
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"policy": {
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| 78 |
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"optimizer_type": "adam",
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| 79 |
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"learning_rate": {
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| 80 |
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"initial": 0.0001,
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| 81 |
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"decay_factor": 0.1,
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| 82 |
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"epoch_schedule": [],
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| 83 |
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"scheduler_type": "multistep"
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| 84 |
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},
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| 85 |
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"regularization": {
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| 86 |
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"L2": 0.0
|
| 87 |
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}
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| 88 |
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}
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| 89 |
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},
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| 90 |
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"loss": {
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| 91 |
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"l2_weight": 1.0,
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| 92 |
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"l1_weight": 0.0,
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| 93 |
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"cos_weight": 0.0
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| 94 |
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},
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| 95 |
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"actor_layer_dims": [],
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| 96 |
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"actor_activation": "nn.ReLU",
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| 97 |
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"gaussian": {
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| 98 |
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"enabled": false,
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| 99 |
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"fixed_std": false,
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| 100 |
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"init_std": 0.1,
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| 101 |
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"min_std": 0.01,
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| 102 |
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"std_activation": "softplus",
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| 103 |
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"low_noise_eval": true
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| 104 |
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},
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| 105 |
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"gmm": {
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| 106 |
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"enabled": true,
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| 107 |
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"num_modes": 5,
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| 108 |
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"min_std": 0.0001,
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| 109 |
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"std_activation": "softplus",
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| 110 |
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"low_noise_eval": true
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| 111 |
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},
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| 112 |
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"vae": {
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| 113 |
+
"enabled": false,
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| 114 |
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"latent_dim": 14,
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| 115 |
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"latent_clip": null,
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| 116 |
+
"kl_weight": 1.0,
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| 117 |
+
"decoder": {
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| 118 |
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"is_conditioned": true,
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| 119 |
+
"reconstruction_sum_across_elements": false
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| 120 |
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},
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| 121 |
+
"prior": {
|
| 122 |
+
"learn": false,
|
| 123 |
+
"is_conditioned": false,
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| 124 |
+
"use_gmm": false,
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| 125 |
+
"gmm_num_modes": 10,
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| 126 |
+
"gmm_learn_weights": false,
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| 127 |
+
"use_categorical": false,
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| 128 |
+
"categorical_dim": 10,
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| 129 |
+
"categorical_gumbel_softmax_hard": false,
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| 130 |
+
"categorical_init_temp": 1.0,
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| 131 |
+
"categorical_temp_anneal_step": 0.001,
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| 132 |
+
"categorical_min_temp": 0.3
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| 133 |
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},
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| 134 |
+
"encoder_layer_dims": [
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| 135 |
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300,
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| 136 |
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400
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| 137 |
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],
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| 138 |
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"decoder_layer_dims": [
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| 139 |
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300,
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| 140 |
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400
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| 141 |
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],
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| 142 |
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"prior_layer_dims": [
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| 143 |
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300,
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| 144 |
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400
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| 145 |
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]
|
| 146 |
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},
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| 147 |
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"rnn": {
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| 148 |
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"enabled": true,
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| 149 |
+
"horizon": 2,
|
| 150 |
+
"hidden_dim": 1024,
|
| 151 |
+
"rnn_type": "LSTM",
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| 152 |
+
"num_layers": 2,
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| 153 |
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"open_loop": false,
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| 154 |
+
"kwargs": {
|
| 155 |
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"bidirectional": false
|
| 156 |
+
}
|
| 157 |
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},
|
| 158 |
+
"transformer": {
|
| 159 |
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"enabled": false,
|
| 160 |
+
"context_length": 10,
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| 161 |
+
"embed_dim": 512,
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| 162 |
+
"num_layers": 6,
|
| 163 |
+
"num_heads": 8,
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| 164 |
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"emb_dropout": 0.1,
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| 165 |
+
"attn_dropout": 0.1,
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| 166 |
+
"block_output_dropout": 0.1,
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| 167 |
+
"sinusoidal_embedding": false,
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| 168 |
+
"activation": "gelu",
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| 169 |
+
"supervise_all_steps": false,
|
| 170 |
+
"nn_parameter_for_timesteps": true
|
| 171 |
+
}
|
| 172 |
+
},
|
| 173 |
+
"observation": {
|
| 174 |
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"modalities": {
|
| 175 |
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"obs": {
|
| 176 |
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"low_dim": [
|
| 177 |
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"current_angles",
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| 178 |
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"goal_angles"
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| 179 |
+
],
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| 180 |
+
"rgb": [],
|
| 181 |
+
"depth": [],
|
| 182 |
+
"scan": [],
|
| 183 |
+
"pcd": [
|
| 184 |
+
"compute_pcd_params"
|
| 185 |
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]
|
| 186 |
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},
|
| 187 |
+
"goal": {
|
| 188 |
+
"low_dim": [],
|
| 189 |
+
"rgb": [],
|
| 190 |
+
"depth": [],
|
| 191 |
+
"scan": [],
|
| 192 |
+
"pcd": []
|
| 193 |
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}
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| 194 |
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},
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| 195 |
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"encoder": {
|
| 196 |
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"low_dim": {
|
| 197 |
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"core_class": null,
|
| 198 |
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"core_kwargs": {},
|
| 199 |
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"obs_randomizer_class": null,
|
| 200 |
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"obs_randomizer_kwargs": {}
|
| 201 |
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},
|
| 202 |
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"rgb": {
|
| 203 |
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"core_class": "VisualCore",
|
| 204 |
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"core_kwargs": {
|
| 205 |
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"feature_dimension": 64,
|
| 206 |
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"backbone_class": "ResNet18Conv",
|
| 207 |
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"backbone_kwargs": {
|
| 208 |
+
"pretrained": false,
|
| 209 |
+
"input_coord_conv": false
|
| 210 |
+
},
|
| 211 |
+
"pool_class": "SpatialSoftmax",
|
| 212 |
+
"pool_kwargs": {
|
| 213 |
+
"num_kp": 32,
|
| 214 |
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"learnable_temperature": false,
|
| 215 |
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"temperature": 1.0,
|
| 216 |
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"noise_std": 0.0
|
| 217 |
+
}
|
| 218 |
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},
|
| 219 |
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"obs_randomizer_class": "CropRandomizer",
|
| 220 |
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"obs_randomizer_kwargs": {
|
| 221 |
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"crop_height": 224,
|
| 222 |
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"crop_width": 224,
|
| 223 |
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"num_crops": 1,
|
| 224 |
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"pos_enc": false
|
| 225 |
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}
|
| 226 |
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},
|
| 227 |
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"depth": {
|
| 228 |
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"core_class": "VisualCore",
|
| 229 |
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"core_kwargs": {},
|
| 230 |
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"obs_randomizer_class": null,
|
| 231 |
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"obs_randomizer_kwargs": {}
|
| 232 |
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},
|
| 233 |
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"scan": {
|
| 234 |
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"core_class": "ScanCore",
|
| 235 |
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"core_kwargs": {},
|
| 236 |
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"obs_randomizer_class": null,
|
| 237 |
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"obs_randomizer_kwargs": {}
|
| 238 |
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},
|
| 239 |
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"pcd": {
|
| 240 |
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"core_class": "PcdCore",
|
| 241 |
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"core_kwargs": {
|
| 242 |
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"backbone_class": "PointNetEncoder",
|
| 243 |
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"backbone_kwargs": {
|
| 244 |
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"encoder_size": "small"
|
| 245 |
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}
|
| 246 |
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},
|
| 247 |
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"obs_randomizer_class": null,
|
| 248 |
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"obs_randomizer_kwargs": {}
|
| 249 |
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}
|
| 250 |
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}
|
| 251 |
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},
|
| 252 |
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"meta": {
|
| 253 |
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"hp_base_config_file": null,
|
| 254 |
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"hp_keys": [],
|
| 255 |
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"hp_values": []
|
| 256 |
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}
|
| 257 |
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},
|
| 258 |
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"obs_key_shapes": {
|
| 259 |
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"compute_pcd_params": [
|
| 260 |
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343
|
| 261 |
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],
|
| 262 |
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"current_angles": [
|
| 263 |
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7
|
| 264 |
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],
|
| 265 |
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"goal_angles": [
|
| 266 |
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7
|
| 267 |
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]
|
| 268 |
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},
|
| 269 |
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"ac_dim": 7
|
| 270 |
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}
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