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mshab_checkpoints

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TEMP: tidy_house set_table nav rl policies

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Files changed (4) hide show
  1. rl/set_table/navigate/all/config.yml +98 -0
  2. rl/set_table/navigate/all/policy.pt +3 -0
  3. rl/tidy_house/navigate/all/config.yml +100 -0
  4. rl/tidy_house/navigate/all/policy.pt +3 -0
rl/set_table/navigate/all/config.yml ADDED
@@ -0,0 +1,98 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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+ seed: 2337
2
+ env:
3
+ env_id: NavigateSubtaskTrain-v0
4
+ num_envs: 189
5
+ max_episode_steps: 1000
6
+ make_env: true
7
+ obs_mode: rgbd
8
+ render_mode: all
9
+ shader_dir: minimal
10
+ continuous_task: false
11
+ cat_state: true
12
+ cat_pixels: false
13
+ frame_stack: 3
14
+ stack: null
15
+ stationary_base: false
16
+ stationary_torso: false
17
+ stationary_head: true
18
+ task_plan_fp: ~/.maniskill/data/scene_datasets/replica_cad_dataset/rearrange/task_plans/set_table/navigate/train/all.json
19
+ spawn_data_fp: ~/.maniskill/data/scene_datasets/replica_cad_dataset/rearrange/spawn_data/set_table/navigate/train/spawn_data.pt
20
+ record_video: false
21
+ debug_video: false
22
+ debug_video_gen: false
23
+ save_video_freq: null
24
+ info_on_video: false
25
+ extra_stat_keys: []
26
+ env_kwargs:
27
+ robot_force_mult: 0.001
28
+ robot_force_penalty_min: 0.2
29
+ target_randomization: false
30
+ task_cfgs:
31
+ navigate:
32
+ horizon: 1000
33
+ eval_env:
34
+ env_id: NavigateSubtaskTrain-v0
35
+ num_envs: 63
36
+ max_episode_steps: 1000
37
+ make_env: true
38
+ obs_mode: rgbd
39
+ render_mode: all
40
+ shader_dir: minimal
41
+ continuous_task: false
42
+ cat_state: true
43
+ cat_pixels: false
44
+ frame_stack: 3
45
+ stack: null
46
+ stationary_base: false
47
+ stationary_torso: false
48
+ stationary_head: true
49
+ task_plan_fp: ~/.maniskill/data/scene_datasets/replica_cad_dataset/rearrange/task_plans/set_table/navigate/train/all.json
50
+ spawn_data_fp: ~/.maniskill/data/scene_datasets/replica_cad_dataset/rearrange/spawn_data/set_table/navigate/train/spawn_data.pt
51
+ record_video: false
52
+ debug_video: false
53
+ debug_video_gen: false
54
+ save_video_freq: 10
55
+ info_on_video: false
56
+ extra_stat_keys: []
57
+ env_kwargs:
58
+ robot_force_mult: 0.001
59
+ robot_force_penalty_min: 0.2
60
+ target_randomization: false
61
+ task_cfgs:
62
+ navigate:
63
+ horizon: 1000
64
+ algo:
65
+ name: ppo
66
+ total_timesteps: 1000000000
67
+ learning_rate: 0.0003
68
+ anneal_lr: false
69
+ gamma: 0.95
70
+ gae_lambda: 0.9
71
+ num_minibatches: 16
72
+ update_epochs: 8
73
+ norm_adv: true
74
+ clip_coef: 0.2
75
+ clip_vloss: false
76
+ ent_coef: 0.0
77
+ vf_coef: 0.5
78
+ max_grad_norm: 0.5
79
+ target_kl: 0.2
80
+ log_freq: 250000
81
+ save_freq: 250000
82
+ eval_freq: null
83
+ finite_horizon_gae: true
84
+ torch_deterministic: true
85
+ save_backup_ckpts: false
86
+ num_steps: 100
87
+ num_envs: 189
88
+ num_eval_envs: 63
89
+ batch_size: 18900
90
+ minibatch_size: 1181
91
+ num_iterations: 52911
92
+ logger:
93
+ workspace: mshab_exps
94
+ exp_name: rcad-set_table-navigate-all
95
+ clear_out: true
96
+ tensorboard: true
97
+ wandb: false
98
+ model_ckpt: "mshab_checkpoints/rl/set_table/navigate/all/policy.pt"
rl/set_table/navigate/all/policy.pt ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
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+ oid sha256:84c8ee51cb27d595f4c318b8c56544a17a79aaf0b4d00bbe43635192f5f40c77
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+ size 68156042
rl/tidy_house/navigate/all/config.yml ADDED
@@ -0,0 +1,100 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ seed: 4682
2
+ env:
3
+ env_id: NavigateSubtaskTrain-v0
4
+ num_envs: 189
5
+ max_episode_steps: 1000
6
+ make_env: true
7
+ obs_mode: rgbd
8
+ render_mode: all
9
+ shader_dir: minimal
10
+ continuous_task: false
11
+ cat_state: true
12
+ cat_pixels: false
13
+ frame_stack: 3
14
+ stack: null
15
+ stationary_base: false
16
+ stationary_torso: false
17
+ stationary_head: true
18
+ task_plan_fp: ~/.maniskill/data/scene_datasets/replica_cad_dataset/rearrange/task_plans/tidy_house/navigate/train/all.json
19
+ spawn_data_fp: ~/.maniskill/data/scene_datasets/replica_cad_dataset/rearrange/spawn_data/tidy_house/navigate/train/spawn_data.pt
20
+ record_video: false
21
+ debug_video: false
22
+ debug_video_gen: false
23
+ save_video_freq: null
24
+ info_on_video: false
25
+ extra_stat_keys: []
26
+ env_kwargs:
27
+ robot_force_mult: 0.001
28
+ robot_force_penalty_min: 0.2
29
+ target_randomization: false
30
+ task_cfgs:
31
+ navigate:
32
+ horizon: 1000
33
+ use_rot_rew: false
34
+ eval_env:
35
+ env_id: NavigateSubtaskTrain-v0
36
+ num_envs: 63
37
+ max_episode_steps: 1000
38
+ make_env: true
39
+ obs_mode: rgbd
40
+ render_mode: all
41
+ shader_dir: minimal
42
+ continuous_task: false
43
+ cat_state: true
44
+ cat_pixels: false
45
+ frame_stack: 3
46
+ stack: null
47
+ stationary_base: false
48
+ stationary_torso: false
49
+ stationary_head: true
50
+ task_plan_fp: ~/.maniskill/data/scene_datasets/replica_cad_dataset/rearrange/task_plans/tidy_house/navigate/train/all.json
51
+ spawn_data_fp: ~/.maniskill/data/scene_datasets/replica_cad_dataset/rearrange/spawn_data/tidy_house/navigate/train/spawn_data.pt
52
+ record_video: false
53
+ debug_video: false
54
+ debug_video_gen: false
55
+ save_video_freq: 10
56
+ info_on_video: false
57
+ extra_stat_keys: []
58
+ env_kwargs:
59
+ robot_force_mult: 0.001
60
+ robot_force_penalty_min: 0.2
61
+ target_randomization: false
62
+ task_cfgs:
63
+ navigate:
64
+ horizon: 1000
65
+ use_rot_rew: false
66
+ algo:
67
+ name: ppo
68
+ total_timesteps: 1000000000
69
+ learning_rate: 0.0003
70
+ anneal_lr: false
71
+ gamma: 0.95
72
+ gae_lambda: 0.9
73
+ num_minibatches: 16
74
+ update_epochs: 8
75
+ norm_adv: true
76
+ clip_coef: 0.2
77
+ clip_vloss: false
78
+ ent_coef: 0.0
79
+ vf_coef: 0.5
80
+ max_grad_norm: 0.5
81
+ target_kl: 0.2
82
+ log_freq: 250000
83
+ save_freq: 250000
84
+ eval_freq: null
85
+ finite_horizon_gae: true
86
+ torch_deterministic: true
87
+ save_backup_ckpts: false
88
+ num_steps: 100
89
+ num_envs: 189
90
+ num_eval_envs: 63
91
+ batch_size: 18900
92
+ minibatch_size: 1181
93
+ num_iterations: 52911
94
+ logger:
95
+ workspace: mshab_exps
96
+ exp_name: rcad-tidy_house-navigate-all
97
+ clear_out: true
98
+ tensorboard: true
99
+ wandb: false
100
+ model_ckpt: "mshab_checkpoints/rl/tidy_house/navigate/all/policy.pt"
rl/tidy_house/navigate/all/policy.pt ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
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+ oid sha256:816d120d5a316fd38e97d268616af72c5a0fc9c15f48eeda5212960d49e5c6b7
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+ size 68156042