Delete config.json

config.json

@@ -1,255 +0,0 @@
-{
-    "algo_name": "bc",
-    "experiment": {
-        "name": "drp_robomimic",
-        "validate": false,
-        "logging": {
-            "terminal_output_to_txt": false,
-            "log_tb": true,
-            "log_wandb": true,
-            "wandb_proj_name": "neural_mp"
-        },
-        "save": {
-            "enabled": true,
-            "every_n_seconds": null,
-            "every_n_epochs": 500,
-            "epochs": [],
-            "on_best_validation": false,
-            "on_best_rollout_return": false,
-            "on_best_rollout_success_rate": true
-        },
-        "epoch_every_n_steps": 1000,
-        "validation_epoch_every_n_steps": 1000,
-        "env": null,
-        "additional_envs": null,
-        "render": false,
-        "render_video": true,
-        "keep_all_videos": true,
-        "video_skip": 5,
-        "rollout": {
-            "enabled": true,
-            "n": 25,
-            "horizon": 150,
-            "rate": 500,
-            "warmstart": 0,
-            "terminate_on_success": true,
-            "evaluate_on_dataset": false,
-            "evaluate_on_dataset_filter_key": "valid"
-        },
-        "pcd_params": {
-            "num_robot_points": 2048,
-            "num_obstacle_points": 4096,
-            "target_pcd_type": "joint",
-            "noise_scale": 0.0,
-            "normalize_joint_angles": false,
-            "relabel_goal_angles": false
-        },
-        "num_envs": 20
-    },
-    "train": {
-        "pad_same": true,
-        "data": "/home/jiahuiya/Neural_MP_Proj/neural_mp/datasets/v1_400k.hdf5",
-        "output_dir": "logs/mp/trained_models",
-        "num_data_workers": 16,
-        "hdf5_cache_mode": null,
-        "hdf5_use_swmr": true,
-        "hdf5_load_next_obs": false,
-        "hdf5_normalize_obs": false,
-        "hdf5_filter_key": "train",
-        "hdf5_validation_filter_key": null,
-        "seq_length": 2,
-        "pad_seq_length": true,
-        "frame_stack": 1,
-        "pad_frame_stack": true,
-        "dataset_keys": [
-            "actions"
-        ],
-        "goal_mode": null,
-        "cuda": true,
-        "batch_size": 16,
-        "num_epochs": 10000,
-        "seed": 1
-    },
-    "algo": {
-        "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": [],
-        "actor_activation": "nn.ReLU",
-        "gaussian": {
-            "enabled": false,
-            "fixed_std": false,
-            "init_std": 0.1,
-            "min_std": 0.01,
-            "std_activation": "softplus",
-            "low_noise_eval": true
-        },
-        "gmm": {
-            "enabled": true,
-            "num_modes": 5,
-            "min_std": 0.0001,
-            "std_activation": "softplus",
-            "low_noise_eval": true
-        },
-        "vae": {
-            "enabled": false,
-            "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
-            ]
-        },
-        "rnn": {
-            "enabled": true,
-            "horizon": 2,
-            "hidden_dim": 1024,
-            "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": {
-        "modalities": {
-            "obs": {
-                "low_dim": [
-                    "current_angles",
-                    "goal_angles"
-                ],
-                "rgb": [],
-                "depth": [],
-                "scan": [],
-                "pcd": [
-                    "compute_pcd_params"
-                ]
-            },
-            "goal": {
-                "low_dim": [],
-                "rgb": [],
-                "depth": [],
-                "scan": [],
-                "pcd": []
-            }
-        },
-        "encoder": {
-            "low_dim": {
-                "core_class": null,
-                "core_kwargs": {},
-                "obs_randomizer_class": null,
-                "obs_randomizer_kwargs": {}
-            },
-            "rgb": {
-                "core_class": "VisualCore",
-                "core_kwargs": {
-                    "feature_dimension": 64,
-                    "backbone_class": "ResNet18Conv",
-                    "backbone_kwargs": {
-                        "pretrained": false,
-                        "input_coord_conv": false
-                    },
-                    "pool_class": "SpatialSoftmax",
-                    "pool_kwargs": {
-                        "num_kp": 32,
-                        "learnable_temperature": false,
-                        "temperature": 1.0,
-                        "noise_std": 0.0
-                    }
-                },
-                "obs_randomizer_class": "CropRandomizer",
-                "obs_randomizer_kwargs": {
-                    "crop_height": 224,
-                    "crop_width": 224,
-                    "num_crops": 1,
-                    "pos_enc": false
-                }
-            },
-            "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": {}
-            },
-            "pcd": {
-                "core_class": "PcdCore",
-                "core_kwargs": {
-                    "backbone_class": "PointNetEncoder",
-                    "backbone_kwargs": {
-                        "encoder_size": "small"
-                    }
-                },
-                "obs_randomizer_class": null,
-                "obs_randomizer_kwargs": {}
-            }
-        }
-    },
-    "meta": {
-        "hp_base_config_file": null,
-        "hp_keys": [],
-        "hp_values": []
-    }
-}