neural_mp / config.json
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{
"algo_name": "bc",
"config": {
"algo_name": "bc",
"experiment": {
"name": "table_10M_final_smooth_cubic_with_objaverse",
"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": 250,
"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": 1,
"rollout": {
"enabled": false,
"n": 10,
"horizon": 300,
"rate": 250,
"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,
"dagger": {
"enabled": false,
"online_epoch_rate": 50,
"num_episodes": 10,
"resampling_strategy": "all",
"num_steps_to_keep_before_collision": 10,
"data_mode": "all",
"dagger_traj_filter": "all",
"num_trajs_to_relabel": 1
}
},
"train": {
"pad_same": true,
"data": "../neural_mp/datasets/final_datasets_v2/table_100K_single_layer_final_smooth_cubic_no_objaverse.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": 10000000,
"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,
"collision_weight": 0.0,
"point_match_weight": 0.0,
"exponential_precision_weight": 0.0,
"collision_loss_params": {
"margin": 0.03,
"hinge_loss": true,
"reduction": "mean",
"smooth_sdf_loss": "none",
"compute_loss_on_penetrations_only": false
}
},
"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,
"act_enabled": false
},
"mpinets": {
"enabled": false
}
},
"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": []
}
},
"obs_key_shapes": {
"compute_pcd_params": [
673
],
"current_angles": [
7
],
"goal_angles": [
7
]
},
"ac_dim": 7
}