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  1. logs/robocasa__bread/train_dp-0112_demos25/seed0/DP_Pretrain_base_policy_latest.pt +0 -3
  2. logs/robocasa__bread/train_dp-0112_demos25/seed0/config.yaml +0 -114
  3. logs/robocasa__bread/train_dp-0112_demos25/seed36/DP_Pretrain_base_policy_latest.pt +0 -3
  4. logs/robocasa__bread/train_dp-0112_demos25/seed36/config.yaml +0 -114
  5. logs/robocasa__bread/train_dp-0112_demos25/seed72/DP_Pretrain_base_policy_latest.pt +0 -3
  6. logs/robocasa__bread/train_dp-0112_demos25/seed72/config.yaml +0 -114
  7. logs/robocasa__breadcanrandom/train_dp-0112_demos100/seed0/DP_Pretrain_base_policy_latest.pt +0 -3
  8. logs/robocasa__breadcanrandom/train_dp-0112_demos100/seed0/config.yaml +0 -114
  9. logs/robocasa__breadcanrandom/train_dp-0112_demos100/seed36/DP_Pretrain_base_policy_latest.pt +0 -3
  10. logs/robocasa__breadcanrandom/train_dp-0112_demos100/seed36/config.yaml +0 -114
  11. logs/robocasa__breadcanrandom/train_dp-0112_demos100/seed72/DP_Pretrain_base_policy_latest.pt +0 -3
  12. logs/robocasa__breadcanrandom/train_dp-0112_demos100/seed72/config.yaml +0 -114
  13. logs/robocasa__cereal/train_dp-0112_demos100/seed0/config.yaml +0 -114
  14. logs/robocasa__cereal/train_dp-0112_demos100/seed36/config.yaml +0 -114
  15. logs/robocasa__cereal/train_dp-0112_demos100/seed72/config.yaml +0 -114
  16. logs/robocasa__door/train_dp-0112_demos10/seed0/DP_Pretrain_base_policy_latest.pt +0 -3
  17. logs/robocasa__door/train_dp-0112_demos10/seed0/config.yaml +0 -114
  18. logs/robocasa__door/train_dp-0112_demos10/seed36/DP_Pretrain_base_policy_latest.pt +0 -3
  19. logs/robocasa__door/train_dp-0112_demos10/seed36/config.yaml +0 -114
  20. logs/robocasa__door/train_dp-0112_demos10/seed72/DP_Pretrain_base_policy_latest.pt +0 -3
  21. logs/robocasa__door/train_dp-0112_demos10/seed72/config.yaml +0 -114
  22. logs/robocasa__door/train_dp-0112_demos5/seed0/DP_Pretrain_base_policy_latest.pt +0 -3
  23. logs/robocasa__door/train_dp-0112_demos5/seed0/config.yaml +0 -114
  24. logs/robocasa__door/train_dp-0112_demos5/seed36/DP_Pretrain_base_policy_latest.pt +0 -3
  25. logs/robocasa__door/train_dp-0112_demos5/seed36/config.yaml +0 -114
  26. logs/robocasa__door/train_dp-0112_demos5/seed72/DP_Pretrain_base_policy_latest.pt +0 -3
  27. logs/robocasa__door/train_dp-0112_demos5/seed72/config.yaml +0 -114
  28. logs/robocasa__nutassemblyround/train_dp-0112_demos100/seed0/config.yaml +0 -114
  29. logs/robocasa__nutassemblyround/train_dp-0112_demos100/seed36/DP_Pretrain_base_policy_latest.pt +0 -3
  30. logs/robocasa__nutassemblyround/train_dp-0112_demos100/seed36/config.yaml +0 -114
  31. logs/robocasa__nutassemblyround/train_dp-0112_demos100/seed72/DP_Pretrain_base_policy_latest.pt +0 -3
  32. logs/robocasa__nutassemblyround/train_dp-0112_demos100/seed72/config.yaml +0 -114
  33. logs/robocasa__stack/train_dp-0112_demos25/seed0/DP_Pretrain_base_policy_latest.pt +0 -3
  34. logs/robocasa__stack/train_dp-0112_demos25/seed0/config.yaml +0 -114
  35. logs/robocasa__stack/train_dp-0112_demos25/seed36/DP_Pretrain_base_policy_latest.pt +0 -3
  36. logs/robocasa__stack/train_dp-0112_demos25/seed36/config.yaml +0 -114
  37. logs/robocasa__stack/train_dp-0112_demos25/seed72/DP_Pretrain_base_policy_latest.pt +0 -3
  38. logs/robocasa__stack/train_dp-0112_demos25/seed72/config.yaml +0 -114
logs/robocasa__bread/train_dp-0112_demos25/seed0/DP_Pretrain_base_policy_latest.pt DELETED
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logs/robocasa__bread/train_dp-0112_demos25/seed0/config.yaml DELETED
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- act: SiLU
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- action_dim: -1
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- action_horizon: 1
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- cont_head: {layers: 2, loss_scale: 1.0, outscale: 1.0}
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- critic: {dist: normal_std_fixed, eps: 1e-05, grad_clip: 100.0, layers: 2, lr: 3e-05,
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- num_models: 5, num_subsample: 2, outscale: 0.0, slow_target: true, slow_target_fraction: 0.02,
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- slow_target_update: 1}
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- datadir: datasets/robocasa_datasets
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- debug: false
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- decoder: {act: SiLU, cnn_depth: 32, cnn_keys: .*image.*, cnn_sigmoid: false, image_dist: mse,
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- kernel_size: 4, minres: 4, mlp_keys: .*state.*, mlp_layers: 5, mlp_units: 1024,
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- seed: 292285
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- train_steps: 30000
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- dyn_discrete: 32
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- mlp_keys: .*state.*, mlp_layers: 5, mlp_units: 1024, norm: true, symlog_inputs: true}
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- env_max_steps: {bread: 300000.0, breadcanfixed: 500000.0, breadcanrandom: 500000.0,
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- cereal: 500000.0, door: 100000.0, nutassemblyround: 500000.0, stack: 300000.0}
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- env_time_limits: {bread: 200, breadcanfixed: 400, breadcanrandom: 400, cereal: 150,
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- door: 200, nutassemblyround: 300, stack: 150}
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- eval_num_runs: 50
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- generate_highres_eval: false
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- grad_clip: 1000
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- grad_heads: [decoder, cont]
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- high_res_render: false
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- highres_img_size: 1024
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- imag_horizon: 7
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- image_size: 64
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- initial: learned
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- kl_free: 1.0
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- log_every: 50
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- logdir: scratch_dir//logs/robocasa__bread/train_dp-0112_demos25/seed0
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- model_lr: 0.0001
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- mppi: {abs_residual: 0.2, action_l2_cost: 0, discount: 0.99, horizon: 8, init_std: 0.05,
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- iterations: 6, max_std: 0.1, min_std: 0.01, num_elites: 32, num_samples: 256, pretrained_ckpt: '',
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- temperature: 0.5, uncertainty_cost: 1.0}
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- norm: True'
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- normalize_state_actions: false
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- num_buffer_transitions: 100000
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- num_envs: 10
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- num_exp_trajs: 25
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- num_exp_val_trajs: 1
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- obs_horizon: 2
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- opt: adam
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- opt_eps: 1e-08
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- precision: 32
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- pred_horizon: 8
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- rep_scale: 0.1
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- residual_actor: {absmax: null, dist: normal, entropy: 0.0003, eps: 1e-05, grad_clip: 100.0,
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- train_dp_mppi_params: {data_collect_noise_std: 0.1, discrim_state_only: true, dp_expert_buffer_ratio: 0.5,
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- eval_every_round: 10, force_warmup: true, min_env_steps_per_round: 3500, n_dp_train_itrs: 1000,
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- n_dp_traj_buffer_size: 64, n_env_steps: 300000.0, n_traj_to_relabel_per_round: 64,
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- rounds_train_ratio: 1.5, upate_discrim_every: 100, update_dp_every: 10, use_discrim: true,
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- warmstart_percentage_env_steps: 0.2, warmstart_train_ratio: 1.5}
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- unimix_ratio: 0.01
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- units: 512
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- update_dp: false
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- use_wandb: true
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- visualize_eval: true
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- viz_expert_buffer: false
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- wandb_entity: njuai
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- wandb_exp_name: robocasa__bread/train_dp-0112_demos25
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- wandb_project: Recovery
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- weight_decay: 0.0
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
logs/robocasa__bread/train_dp-0112_demos25/seed36/DP_Pretrain_base_policy_latest.pt DELETED
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logs/robocasa__bread/train_dp-0112_demos25/seed36/config.yaml DELETED
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- act: SiLU
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- action_dim: -1
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- action_horizon: 1
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- num_models: 5, num_subsample: 2, outscale: 0.0, slow_target: true, slow_target_fraction: 0.02,
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- datadir: datasets/robocasa_datasets
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- decoder: {act: SiLU, cnn_depth: 32, cnn_keys: .*image.*, cnn_sigmoid: false, image_dist: mse,
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- deterministic_run: false
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- device: cuda:0
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- discount: 0.99
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- seed: 292285
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- shared_mlp: []
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- train_steps: 30000
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- train_transform: gpu_medium
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- use_if_ckpt_present: false
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- dyn_deter: 512
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- dyn_discrete: 32
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- dyn_hidden: 512
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- env_max_steps: {bread: 300000.0, breadcanfixed: 500000.0, breadcanrandom: 500000.0,
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- cereal: 500000.0, door: 100000.0, nutassemblyround: 500000.0, stack: 300000.0}
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- env_time_limits: {bread: 200, breadcanfixed: 400, breadcanrandom: 400, cereal: 150,
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- door: 200, nutassemblyround: 300, stack: 150}
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- logdir: scratch_dir//logs/robocasa__bread/train_dp-0112_demos25/seed36
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- iterations: 6, max_std: 0.1, min_std: 0.01, num_elites: 32, num_samples: 256, pretrained_ckpt: '',
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- temperature: 0.5, uncertainty_cost: 1.0}
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- opt: adam
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- precision: 32
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- residual_actor: {absmax: null, dist: normal, entropy: 0.0003, eps: 1e-05, grad_clip: 100.0,
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- layers: 2, lr: 3e-05, max_std: 0.1, min_std: 0.01, outscale: 1.0, std: learned,
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- scratch_dir: scratch_dir/
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- seed: 36
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- set:
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- - [image_size, '64']
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- state_dim: -1
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- state_only: false
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- task: robocasa__bread
98
- time_limit: 200
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- train_dp_mppi: false
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- train_dp_mppi_params: {data_collect_noise_std: 0.1, discrim_state_only: true, dp_expert_buffer_ratio: 0.5,
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- eval_every_round: 10, force_warmup: true, min_env_steps_per_round: 3500, n_dp_train_itrs: 1000,
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- n_dp_traj_buffer_size: 64, n_env_steps: 300000.0, n_traj_to_relabel_per_round: 64,
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- rounds_train_ratio: 1.5, upate_discrim_every: 100, update_dp_every: 10, use_discrim: true,
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- warmstart_percentage_env_steps: 0.2, warmstart_train_ratio: 1.5}
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- unimix_ratio: 0.01
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- units: 512
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- update_dp: false
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- use_wandb: true
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- visualize_eval: true
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- viz_expert_buffer: false
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- wandb_entity: njuai
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- wandb_exp_name: robocasa__bread/train_dp-0112_demos25
113
- wandb_project: Recovery
114
- weight_decay: 0.0
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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logs/robocasa__bread/train_dp-0112_demos25/seed72/config.yaml DELETED
@@ -1,114 +0,0 @@
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- act: SiLU
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- action_dim: -1
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- env_max_steps: {bread: 300000.0, breadcanfixed: 500000.0, breadcanrandom: 500000.0,
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- cereal: 500000.0, door: 100000.0, nutassemblyround: 500000.0, stack: 300000.0}
56
- env_time_limits: {bread: 200, breadcanfixed: 400, breadcanrandom: 400, cereal: 150,
57
- door: 200, nutassemblyround: 300, stack: 150}
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- eval_num_runs: 50
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- generate_highres_eval: false
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- grad_clip: 1000
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- grad_heads: [decoder, cont]
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- high_res_render: false
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- highres_img_size: 1024
64
- imag_horizon: 7
65
- image_size: 64
66
- initial: learned
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- kl_free: 1.0
68
- log_every: 50
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- logdir: scratch_dir//logs/robocasa__bread/train_dp-0112_demos25/seed72
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- model_lr: 0.0001
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- mppi: {abs_residual: 0.2, action_l2_cost: 0, discount: 0.99, horizon: 8, init_std: 0.05,
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- iterations: 6, max_std: 0.1, min_std: 0.01, num_elites: 32, num_samples: 256, pretrained_ckpt: '',
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- temperature: 0.5, uncertainty_cost: 1.0}
74
- norm: True'
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- normalize_state_actions: false
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- num_buffer_transitions: 100000
77
- num_envs: 10
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- num_exp_trajs: 25
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- num_exp_val_trajs: 1
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- obs_horizon: 2
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- opt: adam
82
- opt_eps: 1e-08
83
- precision: 32
84
- pred_horizon: 8
85
- rep_scale: 0.1
86
- residual_actor: {absmax: null, dist: normal, entropy: 0.0003, eps: 1e-05, grad_clip: 100.0,
87
- layers: 2, lr: 3e-05, max_std: 0.1, min_std: 0.01, outscale: 1.0, std: learned,
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- temp: 0.1, unimix_ratio: 0.01}
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- reward_EMA: true
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- reward_head: {dist: normal_std_fixed, layers: 2, outscale: 0.0}
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- scratch_dir: scratch_dir/
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- seed: 72
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- set:
94
- - [image_size, '64']
95
- state_dim: -1
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- state_only: false
97
- task: robocasa__bread
98
- time_limit: 200
99
- train_dp_mppi: false
100
- train_dp_mppi_params: {data_collect_noise_std: 0.1, discrim_state_only: true, dp_expert_buffer_ratio: 0.5,
101
- eval_every_round: 10, force_warmup: true, min_env_steps_per_round: 3500, n_dp_train_itrs: 1000,
102
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- temperature: 0.5, uncertainty_cost: 1.0}
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- norm: True'
75
- normalize_state_actions: false
76
- num_buffer_transitions: 100000
77
- num_envs: 10
78
- num_exp_trajs: 25
79
- num_exp_val_trajs: 1
80
- obs_horizon: 2
81
- opt: adam
82
- opt_eps: 1e-08
83
- precision: 32
84
- pred_horizon: 8
85
- rep_scale: 0.1
86
- residual_actor: {absmax: null, dist: normal, entropy: 0.0003, eps: 1e-05, grad_clip: 100.0,
87
- layers: 2, lr: 3e-05, max_std: 0.1, min_std: 0.01, outscale: 1.0, std: learned,
88
- temp: 0.1, unimix_ratio: 0.01}
89
- reward_EMA: true
90
- reward_head: {dist: normal_std_fixed, layers: 2, outscale: 0.0}
91
- scratch_dir: scratch_dir/
92
- seed: 72
93
- set:
94
- - [image_size, '64']
95
- state_dim: -1
96
- state_only: false
97
- task: robocasa__stack
98
- time_limit: 150
99
- train_dp_mppi: false
100
- train_dp_mppi_params: {data_collect_noise_std: 0.1, discrim_state_only: true, dp_expert_buffer_ratio: 0.5,
101
- eval_every_round: 10, force_warmup: true, min_env_steps_per_round: 3500, n_dp_train_itrs: 1000,
102
- n_dp_traj_buffer_size: 64, n_env_steps: 300000.0, n_traj_to_relabel_per_round: 64,
103
- rounds_train_ratio: 1.5, upate_discrim_every: 100, update_dp_every: 10, use_discrim: true,
104
- warmstart_percentage_env_steps: 0.2, warmstart_train_ratio: 1.5}
105
- unimix_ratio: 0.01
106
- units: 512
107
- update_dp: false
108
- use_wandb: true
109
- visualize_eval: true
110
- viz_expert_buffer: false
111
- wandb_entity: njuai
112
- wandb_exp_name: robocasa__stack/train_dp-0112_demos25
113
- wandb_project: Recovery
114
- weight_decay: 0.0