Upload pre-trained models for reference
Browse files- .gitattributes +10 -0
- pretrained_models/cheetah/0/.hydra/config.yaml +118 -0
- pretrained_models/cheetah/0/results/cheetah/models/best.p +3 -0
- pretrained_models/crawler/0/.hydra/config.yaml +117 -0
- pretrained_models/crawler/0/results/crawler/models/best.p +3 -0
- pretrained_models/glider-hard/0/.hydra/config.yaml +117 -0
- pretrained_models/glider-hard/0/results/glider-hard/models/best.p +3 -0
- pretrained_models/glider-medium/0/.hydra/config.yaml +117 -0
- pretrained_models/glider-medium/0/results/glider-medium/models/best.p +3 -0
- pretrained_models/glider-regular/0/.hydra/config.yaml +117 -0
- pretrained_models/glider-regular/0/results/glider-regular/models/best.p +3 -0
- pretrained_models/swimmer/0/.hydra/config.yaml +118 -0
- pretrained_models/swimmer/0/results/swimmer/models/best.p +3 -0
- pretrained_models/terraincrosser/0/.hydra/config.yaml +117 -0
- pretrained_models/terraincrosser/0/results/terraincrosser/models/best.p +3 -0
- pretrained_models/walker-hard/0/.hydra/config.yaml +117 -0
- pretrained_models/walker-hard/0/results/walker-hard/models/best.p +3 -0
- pretrained_models/walker-medium/0/.hydra/config.yaml +117 -0
- pretrained_models/walker-medium/0/results/walker-medium/models/best.p +3 -0
- pretrained_models/walker-regular/.DS_Store +0 -0
- pretrained_models/walker-regular/0/.DS_Store +0 -0
- pretrained_models/walker-regular/0/.hydra/config.yaml +117 -0
- pretrained_models/walker-regular/0/results/.DS_Store +0 -0
- pretrained_models/walker-regular/0/results/walker-regular/.DS_Store +0 -0
- pretrained_models/walker-regular/0/results/walker-regular/models/best.p +3 -0
.gitattributes
CHANGED
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@@ -33,3 +33,13 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
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*.zip filter=lfs diff=lfs merge=lfs -text
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*.zst filter=lfs diff=lfs merge=lfs -text
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*tfevents* filter=lfs diff=lfs merge=lfs -text
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*.zip filter=lfs diff=lfs merge=lfs -text
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*.zst filter=lfs diff=lfs merge=lfs -text
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*tfevents* filter=lfs diff=lfs merge=lfs -text
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pretrained_models/cheetah/0/results/cheetah/models/best.p filter=lfs diff=lfs merge=lfs -text
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pretrained_models/crawler/0/results/crawler/models/best.p filter=lfs diff=lfs merge=lfs -text
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pretrained_models/glider-hard/0/results/glider-hard/models/best.p filter=lfs diff=lfs merge=lfs -text
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pretrained_models/glider-medium/0/results/glider-medium/models/best.p filter=lfs diff=lfs merge=lfs -text
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pretrained_models/glider-regular/0/results/glider-regular/models/best.p filter=lfs diff=lfs merge=lfs -text
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pretrained_models/swimmer/0/results/swimmer/models/best.p filter=lfs diff=lfs merge=lfs -text
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pretrained_models/terraincrosser/0/results/terraincrosser/models/best.p filter=lfs diff=lfs merge=lfs -text
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pretrained_models/walker-hard/0/results/walker-hard/models/best.p filter=lfs diff=lfs merge=lfs -text
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pretrained_models/walker-medium/0/results/walker-medium/models/best.p filter=lfs diff=lfs merge=lfs -text
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pretrained_models/walker-regular/0/results/walker-regular/models/best.p filter=lfs diff=lfs merge=lfs -text
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pretrained_models/cheetah/0/.hydra/config.yaml
ADDED
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@@ -0,0 +1,118 @@
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project: Genesis
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| 2 |
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enable_wandb: true
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cfg: cheetah
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render: false
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tmp: false
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num_threads: 20
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+
gpu_index: 0
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epoch: '0'
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| 9 |
+
show_noise: false
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'n': 0
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| 11 |
+
project_path: null
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| 12 |
+
lr_decay: false
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| 13 |
+
policy_optimizer: Adam
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| 14 |
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policy_lr: 5.0e-05
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policy_momentum: 0.0
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policy_weightdecay: 0.0
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| 17 |
+
value_optimizer: Adam
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| 18 |
+
value_lr: 0.0003
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| 19 |
+
value_momentum: 0.0
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| 20 |
+
value_weightdecay: 0.0
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| 21 |
+
reward_shift: -0.0
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| 22 |
+
clip_epsilon: 0.2
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| 23 |
+
min_batch_size: 50000
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| 24 |
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max_epoch_num: 1000
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| 25 |
+
mini_batch_size: 2048
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| 26 |
+
num_optim_epoch: 10
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| 27 |
+
norm_return: 1
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| 28 |
+
norm_advantage: true
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| 29 |
+
max_grad_norm: 40
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| 30 |
+
uni_obs_norm: true
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| 31 |
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xml_name: default
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| 32 |
+
use_separate_value: 1
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| 33 |
+
planner_demean: 0
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| 34 |
+
recompute_adv: 0
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| 35 |
+
seed: 4
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| 36 |
+
save_model_interval: 100
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| 37 |
+
value_specs:
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| 38 |
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htype: tanh
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| 39 |
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mlp:
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- 512
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- 256
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design_flag_in_state: true
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message_type: transformer
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| 44 |
+
gnn_specs:
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| 45 |
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layer_type: graph_conv
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hdims:
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- 64
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+
- 64
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| 49 |
+
- 64
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| 50 |
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aggr: add
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| 51 |
+
bias: true
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| 52 |
+
transformer_specs:
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pos_emb_type: index
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| 54 |
+
block_depth: 3
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| 55 |
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hidden_dim: 64
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| 56 |
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norm_type: pre
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| 57 |
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decay_type: none
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| 58 |
+
decay_ratio: -4
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| 59 |
+
policy_specs:
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| 60 |
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control_log_std: -0.0
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| 61 |
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attr_log_std: -2.3
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| 62 |
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fix_control_std: false
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| 63 |
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fix_attr_std: false
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| 64 |
+
skel_message_type: transformer
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| 65 |
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control_message_type: transformer
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| 66 |
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attr_message_type: transformer
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| 67 |
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skel_transformer_specs:
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| 68 |
+
pos_emb_type: index
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| 69 |
+
block_depth: 3
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| 70 |
+
hidden_dim: 64
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norm_type: pre
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| 72 |
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decay_type: none
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| 73 |
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decay_ratio: -4
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attr_transformer_specs:
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+
pos_emb_type: index
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| 76 |
+
block_depth: 3
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| 77 |
+
hidden_dim: 64
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| 78 |
+
norm_type: pre
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| 79 |
+
decay_type: none
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| 80 |
+
decay_ratio: -4
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| 81 |
+
control_transformer_specs:
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| 82 |
+
pos_emb_type: index
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| 83 |
+
block_depth: 3
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| 84 |
+
hidden_dim: 64
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| 85 |
+
norm_type: pre
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| 86 |
+
decay_type: none
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| 87 |
+
decay_ratio: -4
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| 88 |
+
use_skel_index_mlp: 0
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| 89 |
+
use_control_index_mlp: 0
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| 90 |
+
use_attr_index_mlp: 0
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| 91 |
+
use_skel_shared_mlp: 0
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| 92 |
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use_control_shared_mlp: 0
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| 93 |
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use_attr_shared_mlp: 0
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| 94 |
+
skel_shared_mlp_type: depth
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| 95 |
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control_shared_mlp_type: depth
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| 96 |
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attr_shared_mlp_type: depth
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skel_shared_mlp:
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| 98 |
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hdims:
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| 99 |
+
- 128
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| 100 |
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- 128
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| 101 |
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rescale_linear: true
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| 102 |
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max_index: 10
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| 103 |
+
control_shared_mlp:
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| 104 |
+
hdims:
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| 105 |
+
- 128
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| 106 |
+
- 128
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| 107 |
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rescale_linear: true
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| 108 |
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max_index: 10
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| 109 |
+
attr_shared_mlp:
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| 110 |
+
hdims:
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| 111 |
+
- 128
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| 112 |
+
- 128
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| 113 |
+
rescale_linear: true
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| 114 |
+
max_index: 10
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| 115 |
+
obs_specs:
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| 116 |
+
use_body_depth_height: true
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| 117 |
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use_shortest_distance: true
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| 118 |
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use_position_encoding: true
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pretrained_models/cheetah/0/results/cheetah/models/best.p
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:32891e5498ae9c7828122fc2add59f8a8b335d5ba4ee9edb9b4bf56ac7c0b40a
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| 3 |
+
size 11495206
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pretrained_models/crawler/0/.hydra/config.yaml
ADDED
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@@ -0,0 +1,117 @@
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| 1 |
+
project: Genesis
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| 2 |
+
enable_wandb: true
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| 3 |
+
cfg: crawler
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| 4 |
+
render: false
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| 5 |
+
tmp: false
|
| 6 |
+
num_threads: 20
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| 7 |
+
gpu_index: 0
|
| 8 |
+
epoch: '0'
|
| 9 |
+
show_noise: false
|
| 10 |
+
'n': 0
|
| 11 |
+
project_path: null
|
| 12 |
+
lr_decay: false
|
| 13 |
+
policy_optimizer: Adam
|
| 14 |
+
policy_lr: 5.0e-05
|
| 15 |
+
policy_momentum: 0.0
|
| 16 |
+
policy_weightdecay: 0.0
|
| 17 |
+
value_optimizer: Adam
|
| 18 |
+
value_lr: 0.0003
|
| 19 |
+
value_momentum: 0.0
|
| 20 |
+
value_weightdecay: 0.0
|
| 21 |
+
reward_shift: -0.0
|
| 22 |
+
clip_epsilon: 0.2
|
| 23 |
+
min_batch_size: 50000
|
| 24 |
+
max_epoch_num: 1000
|
| 25 |
+
mini_batch_size: 2048
|
| 26 |
+
num_optim_epoch: 10
|
| 27 |
+
norm_return: 1
|
| 28 |
+
norm_advantage: true
|
| 29 |
+
max_grad_norm: 40
|
| 30 |
+
uni_obs_norm: true
|
| 31 |
+
xml_name: default
|
| 32 |
+
use_separate_value: 1
|
| 33 |
+
planner_demean: 0
|
| 34 |
+
recompute_adv: 0
|
| 35 |
+
seed: 4
|
| 36 |
+
save_model_interval: 100
|
| 37 |
+
value_specs:
|
| 38 |
+
htype: tanh
|
| 39 |
+
mlp:
|
| 40 |
+
- 512
|
| 41 |
+
- 256
|
| 42 |
+
message_type: transformer
|
| 43 |
+
gnn_specs:
|
| 44 |
+
layer_type: graph_conv
|
| 45 |
+
hdims:
|
| 46 |
+
- 64
|
| 47 |
+
- 64
|
| 48 |
+
- 64
|
| 49 |
+
aggr: add
|
| 50 |
+
bias: true
|
| 51 |
+
transformer_specs:
|
| 52 |
+
pos_emb_type: index
|
| 53 |
+
block_depth: 3
|
| 54 |
+
hidden_dim: 64
|
| 55 |
+
norm_type: pre
|
| 56 |
+
decay_type: none
|
| 57 |
+
decay_ratio: -4
|
| 58 |
+
policy_specs:
|
| 59 |
+
control_log_std: -0.5
|
| 60 |
+
attr_log_std: -2.3
|
| 61 |
+
fix_control_std: false
|
| 62 |
+
fix_attr_std: false
|
| 63 |
+
skel_message_type: transformer
|
| 64 |
+
control_message_type: transformer
|
| 65 |
+
attr_message_type: transformer
|
| 66 |
+
skel_transformer_specs:
|
| 67 |
+
pos_emb_type: index
|
| 68 |
+
block_depth: 3
|
| 69 |
+
hidden_dim: 64
|
| 70 |
+
norm_type: pre
|
| 71 |
+
decay_type: none
|
| 72 |
+
decay_ratio: -4
|
| 73 |
+
attr_transformer_specs:
|
| 74 |
+
pos_emb_type: index
|
| 75 |
+
block_depth: 3
|
| 76 |
+
hidden_dim: 64
|
| 77 |
+
norm_type: pre
|
| 78 |
+
decay_type: none
|
| 79 |
+
decay_ratio: -4
|
| 80 |
+
control_transformer_specs:
|
| 81 |
+
pos_emb_type: index
|
| 82 |
+
block_depth: 3
|
| 83 |
+
hidden_dim: 64
|
| 84 |
+
norm_type: pre
|
| 85 |
+
decay_type: none
|
| 86 |
+
decay_ratio: -4
|
| 87 |
+
use_skel_index_mlp: 0
|
| 88 |
+
use_control_index_mlp: 0
|
| 89 |
+
use_attr_index_mlp: 0
|
| 90 |
+
use_skel_shared_mlp: 0
|
| 91 |
+
use_control_shared_mlp: 0
|
| 92 |
+
use_attr_shared_mlp: 0
|
| 93 |
+
skel_shared_mlp_type: depth
|
| 94 |
+
control_shared_mlp_type: depth
|
| 95 |
+
attr_shared_mlp_type: depth
|
| 96 |
+
skel_shared_mlp:
|
| 97 |
+
hdims:
|
| 98 |
+
- 128
|
| 99 |
+
- 128
|
| 100 |
+
rescale_linear: true
|
| 101 |
+
max_index: 10
|
| 102 |
+
control_shared_mlp:
|
| 103 |
+
hdims:
|
| 104 |
+
- 128
|
| 105 |
+
- 128
|
| 106 |
+
rescale_linear: true
|
| 107 |
+
max_index: 10
|
| 108 |
+
attr_shared_mlp:
|
| 109 |
+
hdims:
|
| 110 |
+
- 128
|
| 111 |
+
- 128
|
| 112 |
+
rescale_linear: true
|
| 113 |
+
max_index: 10
|
| 114 |
+
obs_specs:
|
| 115 |
+
use_body_depth_height: true
|
| 116 |
+
use_shortest_distance: true
|
| 117 |
+
use_position_encoding: true
|
pretrained_models/crawler/0/results/crawler/models/best.p
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:ed18303f26678b4890b52e624c899e4791f73f749c1616aeb8e001d2a1b21c10
|
| 3 |
+
size 11511870
|
pretrained_models/glider-hard/0/.hydra/config.yaml
ADDED
|
@@ -0,0 +1,117 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
project: Genesis
|
| 2 |
+
enable_wandb: true
|
| 3 |
+
cfg: glider-hard
|
| 4 |
+
render: false
|
| 5 |
+
tmp: false
|
| 6 |
+
num_threads: 20
|
| 7 |
+
gpu_index: 0
|
| 8 |
+
epoch: '0'
|
| 9 |
+
show_noise: false
|
| 10 |
+
'n': 0
|
| 11 |
+
project_path: null
|
| 12 |
+
lr_decay: false
|
| 13 |
+
policy_optimizer: Adam
|
| 14 |
+
policy_lr: 5.0e-05
|
| 15 |
+
policy_momentum: 0.0
|
| 16 |
+
policy_weightdecay: 0.0
|
| 17 |
+
value_optimizer: Adam
|
| 18 |
+
value_lr: 0.0003
|
| 19 |
+
value_momentum: 0.0
|
| 20 |
+
value_weightdecay: 0.0
|
| 21 |
+
reward_shift: -0.0
|
| 22 |
+
clip_epsilon: 0.2
|
| 23 |
+
min_batch_size: 50000
|
| 24 |
+
max_epoch_num: 1000
|
| 25 |
+
mini_batch_size: 2048
|
| 26 |
+
num_optim_epoch: 10
|
| 27 |
+
norm_return: 1
|
| 28 |
+
norm_advantage: true
|
| 29 |
+
max_grad_norm: 40
|
| 30 |
+
uni_obs_norm: true
|
| 31 |
+
xml_name: default
|
| 32 |
+
use_separate_value: 1
|
| 33 |
+
planner_demean: 0
|
| 34 |
+
recompute_adv: 0
|
| 35 |
+
seed: 4
|
| 36 |
+
save_model_interval: 100
|
| 37 |
+
value_specs:
|
| 38 |
+
htype: tanh
|
| 39 |
+
mlp:
|
| 40 |
+
- 512
|
| 41 |
+
- 256
|
| 42 |
+
message_type: transformer
|
| 43 |
+
gnn_specs:
|
| 44 |
+
layer_type: graph_conv
|
| 45 |
+
hdims:
|
| 46 |
+
- 64
|
| 47 |
+
- 64
|
| 48 |
+
- 64
|
| 49 |
+
aggr: add
|
| 50 |
+
bias: true
|
| 51 |
+
transformer_specs:
|
| 52 |
+
pos_emb_type: index
|
| 53 |
+
block_depth: 3
|
| 54 |
+
hidden_dim: 64
|
| 55 |
+
norm_type: pre
|
| 56 |
+
decay_type: none
|
| 57 |
+
decay_ratio: -4
|
| 58 |
+
policy_specs:
|
| 59 |
+
control_log_std: -0.0
|
| 60 |
+
attr_log_std: -2.3
|
| 61 |
+
fix_control_std: false
|
| 62 |
+
fix_attr_std: false
|
| 63 |
+
skel_message_type: transformer
|
| 64 |
+
control_message_type: transformer
|
| 65 |
+
attr_message_type: transformer
|
| 66 |
+
skel_transformer_specs:
|
| 67 |
+
pos_emb_type: index
|
| 68 |
+
block_depth: 3
|
| 69 |
+
hidden_dim: 64
|
| 70 |
+
norm_type: pre
|
| 71 |
+
decay_type: none
|
| 72 |
+
decay_ratio: -4
|
| 73 |
+
attr_transformer_specs:
|
| 74 |
+
pos_emb_type: index
|
| 75 |
+
block_depth: 3
|
| 76 |
+
hidden_dim: 64
|
| 77 |
+
norm_type: pre
|
| 78 |
+
decay_type: none
|
| 79 |
+
decay_ratio: -4
|
| 80 |
+
control_transformer_specs:
|
| 81 |
+
pos_emb_type: index
|
| 82 |
+
block_depth: 3
|
| 83 |
+
hidden_dim: 64
|
| 84 |
+
norm_type: pre
|
| 85 |
+
decay_type: none
|
| 86 |
+
decay_ratio: -4
|
| 87 |
+
use_skel_index_mlp: 0
|
| 88 |
+
use_control_index_mlp: 0
|
| 89 |
+
use_attr_index_mlp: 0
|
| 90 |
+
use_skel_shared_mlp: 0
|
| 91 |
+
use_control_shared_mlp: 0
|
| 92 |
+
use_attr_shared_mlp: 0
|
| 93 |
+
skel_shared_mlp_type: depth
|
| 94 |
+
control_shared_mlp_type: depth
|
| 95 |
+
attr_shared_mlp_type: depth
|
| 96 |
+
skel_shared_mlp:
|
| 97 |
+
hdims:
|
| 98 |
+
- 128
|
| 99 |
+
- 128
|
| 100 |
+
rescale_linear: true
|
| 101 |
+
max_index: 10
|
| 102 |
+
control_shared_mlp:
|
| 103 |
+
hdims:
|
| 104 |
+
- 128
|
| 105 |
+
- 128
|
| 106 |
+
rescale_linear: true
|
| 107 |
+
max_index: 10
|
| 108 |
+
attr_shared_mlp:
|
| 109 |
+
hdims:
|
| 110 |
+
- 128
|
| 111 |
+
- 128
|
| 112 |
+
rescale_linear: true
|
| 113 |
+
max_index: 10
|
| 114 |
+
obs_specs:
|
| 115 |
+
use_body_depth_height: true
|
| 116 |
+
use_shortest_distance: true
|
| 117 |
+
use_position_encoding: true
|
pretrained_models/glider-hard/0/results/glider-hard/models/best.p
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:ff9fa485fb163f1a02114ff01f620b3b724bc5515b40ec97c207d0072c7659c3
|
| 3 |
+
size 11492124
|
pretrained_models/glider-medium/0/.hydra/config.yaml
ADDED
|
@@ -0,0 +1,117 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
project: Genesis
|
| 2 |
+
enable_wandb: true
|
| 3 |
+
cfg: glider-medium
|
| 4 |
+
render: false
|
| 5 |
+
tmp: false
|
| 6 |
+
num_threads: 20
|
| 7 |
+
gpu_index: 0
|
| 8 |
+
epoch: '0'
|
| 9 |
+
show_noise: false
|
| 10 |
+
'n': 0
|
| 11 |
+
project_path: null
|
| 12 |
+
lr_decay: false
|
| 13 |
+
policy_optimizer: Adam
|
| 14 |
+
policy_lr: 5.0e-05
|
| 15 |
+
policy_momentum: 0.0
|
| 16 |
+
policy_weightdecay: 0.0
|
| 17 |
+
value_optimizer: Adam
|
| 18 |
+
value_lr: 0.0003
|
| 19 |
+
value_momentum: 0.0
|
| 20 |
+
value_weightdecay: 0.0
|
| 21 |
+
reward_shift: -0.0
|
| 22 |
+
clip_epsilon: 0.2
|
| 23 |
+
min_batch_size: 50000
|
| 24 |
+
max_epoch_num: 1000
|
| 25 |
+
mini_batch_size: 2048
|
| 26 |
+
num_optim_epoch: 10
|
| 27 |
+
norm_return: 1
|
| 28 |
+
norm_advantage: true
|
| 29 |
+
max_grad_norm: 40
|
| 30 |
+
uni_obs_norm: true
|
| 31 |
+
xml_name: default
|
| 32 |
+
use_separate_value: 1
|
| 33 |
+
planner_demean: 0
|
| 34 |
+
recompute_adv: 0
|
| 35 |
+
seed: 4
|
| 36 |
+
save_model_interval: 100
|
| 37 |
+
value_specs:
|
| 38 |
+
htype: tanh
|
| 39 |
+
mlp:
|
| 40 |
+
- 512
|
| 41 |
+
- 256
|
| 42 |
+
message_type: transformer
|
| 43 |
+
gnn_specs:
|
| 44 |
+
layer_type: graph_conv
|
| 45 |
+
hdims:
|
| 46 |
+
- 64
|
| 47 |
+
- 64
|
| 48 |
+
- 64
|
| 49 |
+
aggr: add
|
| 50 |
+
bias: true
|
| 51 |
+
transformer_specs:
|
| 52 |
+
pos_emb_type: index
|
| 53 |
+
block_depth: 3
|
| 54 |
+
hidden_dim: 64
|
| 55 |
+
norm_type: pre
|
| 56 |
+
decay_type: none
|
| 57 |
+
decay_ratio: -4
|
| 58 |
+
policy_specs:
|
| 59 |
+
control_log_std: -0.0
|
| 60 |
+
attr_log_std: -2.3
|
| 61 |
+
fix_control_std: false
|
| 62 |
+
fix_attr_std: false
|
| 63 |
+
skel_message_type: transformer
|
| 64 |
+
control_message_type: transformer
|
| 65 |
+
attr_message_type: transformer
|
| 66 |
+
skel_transformer_specs:
|
| 67 |
+
pos_emb_type: index
|
| 68 |
+
block_depth: 3
|
| 69 |
+
hidden_dim: 64
|
| 70 |
+
norm_type: pre
|
| 71 |
+
decay_type: none
|
| 72 |
+
decay_ratio: -4
|
| 73 |
+
attr_transformer_specs:
|
| 74 |
+
pos_emb_type: index
|
| 75 |
+
block_depth: 3
|
| 76 |
+
hidden_dim: 64
|
| 77 |
+
norm_type: pre
|
| 78 |
+
decay_type: none
|
| 79 |
+
decay_ratio: -4
|
| 80 |
+
control_transformer_specs:
|
| 81 |
+
pos_emb_type: index
|
| 82 |
+
block_depth: 3
|
| 83 |
+
hidden_dim: 64
|
| 84 |
+
norm_type: pre
|
| 85 |
+
decay_type: none
|
| 86 |
+
decay_ratio: -4
|
| 87 |
+
use_skel_index_mlp: 0
|
| 88 |
+
use_control_index_mlp: 0
|
| 89 |
+
use_attr_index_mlp: 0
|
| 90 |
+
use_skel_shared_mlp: 0
|
| 91 |
+
use_control_shared_mlp: 0
|
| 92 |
+
use_attr_shared_mlp: 0
|
| 93 |
+
skel_shared_mlp_type: depth
|
| 94 |
+
control_shared_mlp_type: depth
|
| 95 |
+
attr_shared_mlp_type: depth
|
| 96 |
+
skel_shared_mlp:
|
| 97 |
+
hdims:
|
| 98 |
+
- 128
|
| 99 |
+
- 128
|
| 100 |
+
rescale_linear: true
|
| 101 |
+
max_index: 10
|
| 102 |
+
control_shared_mlp:
|
| 103 |
+
hdims:
|
| 104 |
+
- 128
|
| 105 |
+
- 128
|
| 106 |
+
rescale_linear: true
|
| 107 |
+
max_index: 10
|
| 108 |
+
attr_shared_mlp:
|
| 109 |
+
hdims:
|
| 110 |
+
- 128
|
| 111 |
+
- 128
|
| 112 |
+
rescale_linear: true
|
| 113 |
+
max_index: 10
|
| 114 |
+
obs_specs:
|
| 115 |
+
use_body_depth_height: true
|
| 116 |
+
use_shortest_distance: true
|
| 117 |
+
use_position_encoding: true
|
pretrained_models/glider-medium/0/results/glider-medium/models/best.p
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:24799a0cf77de35772c82c5c80e83540647d20176b2d0b23b66c67b570b12d65
|
| 3 |
+
size 11492154
|
pretrained_models/glider-regular/0/.hydra/config.yaml
ADDED
|
@@ -0,0 +1,117 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
project: Genesis
|
| 2 |
+
enable_wandb: true
|
| 3 |
+
cfg: glider-regular
|
| 4 |
+
render: false
|
| 5 |
+
tmp: false
|
| 6 |
+
num_threads: 20
|
| 7 |
+
gpu_index: 0
|
| 8 |
+
epoch: '0'
|
| 9 |
+
show_noise: false
|
| 10 |
+
'n': 0
|
| 11 |
+
project_path: null
|
| 12 |
+
lr_decay: false
|
| 13 |
+
policy_optimizer: Adam
|
| 14 |
+
policy_lr: 5.0e-05
|
| 15 |
+
policy_momentum: 0.0
|
| 16 |
+
policy_weightdecay: 0.0
|
| 17 |
+
value_optimizer: Adam
|
| 18 |
+
value_lr: 0.0003
|
| 19 |
+
value_momentum: 0.0
|
| 20 |
+
value_weightdecay: 0.0
|
| 21 |
+
reward_shift: -0.0
|
| 22 |
+
clip_epsilon: 0.2
|
| 23 |
+
min_batch_size: 50000
|
| 24 |
+
max_epoch_num: 1000
|
| 25 |
+
mini_batch_size: 2048
|
| 26 |
+
num_optim_epoch: 10
|
| 27 |
+
norm_return: 1
|
| 28 |
+
norm_advantage: true
|
| 29 |
+
max_grad_norm: 40
|
| 30 |
+
uni_obs_norm: true
|
| 31 |
+
xml_name: default
|
| 32 |
+
use_separate_value: 1
|
| 33 |
+
planner_demean: 0
|
| 34 |
+
recompute_adv: 0
|
| 35 |
+
seed: 2
|
| 36 |
+
save_model_interval: 100
|
| 37 |
+
value_specs:
|
| 38 |
+
htype: tanh
|
| 39 |
+
mlp:
|
| 40 |
+
- 512
|
| 41 |
+
- 256
|
| 42 |
+
message_type: transformer
|
| 43 |
+
gnn_specs:
|
| 44 |
+
layer_type: graph_conv
|
| 45 |
+
hdims:
|
| 46 |
+
- 64
|
| 47 |
+
- 64
|
| 48 |
+
- 64
|
| 49 |
+
aggr: add
|
| 50 |
+
bias: true
|
| 51 |
+
transformer_specs:
|
| 52 |
+
pos_emb_type: index
|
| 53 |
+
block_depth: 3
|
| 54 |
+
hidden_dim: 64
|
| 55 |
+
norm_type: pre
|
| 56 |
+
decay_type: none
|
| 57 |
+
decay_ratio: -4
|
| 58 |
+
policy_specs:
|
| 59 |
+
control_log_std: -0.0
|
| 60 |
+
attr_log_std: -2.3
|
| 61 |
+
fix_control_std: false
|
| 62 |
+
fix_attr_std: false
|
| 63 |
+
skel_message_type: transformer
|
| 64 |
+
control_message_type: transformer
|
| 65 |
+
attr_message_type: transformer
|
| 66 |
+
skel_transformer_specs:
|
| 67 |
+
pos_emb_type: index
|
| 68 |
+
block_depth: 3
|
| 69 |
+
hidden_dim: 64
|
| 70 |
+
norm_type: pre
|
| 71 |
+
decay_type: none
|
| 72 |
+
decay_ratio: -4
|
| 73 |
+
attr_transformer_specs:
|
| 74 |
+
pos_emb_type: index
|
| 75 |
+
block_depth: 3
|
| 76 |
+
hidden_dim: 64
|
| 77 |
+
norm_type: pre
|
| 78 |
+
decay_type: none
|
| 79 |
+
decay_ratio: -4
|
| 80 |
+
control_transformer_specs:
|
| 81 |
+
pos_emb_type: index
|
| 82 |
+
block_depth: 3
|
| 83 |
+
hidden_dim: 64
|
| 84 |
+
norm_type: pre
|
| 85 |
+
decay_type: none
|
| 86 |
+
decay_ratio: -4
|
| 87 |
+
use_skel_index_mlp: 0
|
| 88 |
+
use_control_index_mlp: 0
|
| 89 |
+
use_attr_index_mlp: 0
|
| 90 |
+
use_skel_shared_mlp: 0
|
| 91 |
+
use_control_shared_mlp: 0
|
| 92 |
+
use_attr_shared_mlp: 0
|
| 93 |
+
skel_shared_mlp_type: depth
|
| 94 |
+
control_shared_mlp_type: depth
|
| 95 |
+
attr_shared_mlp_type: depth
|
| 96 |
+
skel_shared_mlp:
|
| 97 |
+
hdims:
|
| 98 |
+
- 128
|
| 99 |
+
- 128
|
| 100 |
+
rescale_linear: true
|
| 101 |
+
max_index: 10
|
| 102 |
+
control_shared_mlp:
|
| 103 |
+
hdims:
|
| 104 |
+
- 128
|
| 105 |
+
- 128
|
| 106 |
+
rescale_linear: true
|
| 107 |
+
max_index: 10
|
| 108 |
+
attr_shared_mlp:
|
| 109 |
+
hdims:
|
| 110 |
+
- 128
|
| 111 |
+
- 128
|
| 112 |
+
rescale_linear: true
|
| 113 |
+
max_index: 10
|
| 114 |
+
obs_specs:
|
| 115 |
+
use_body_depth_height: true
|
| 116 |
+
use_shortest_distance: true
|
| 117 |
+
use_position_encoding: true
|
pretrained_models/glider-regular/0/results/glider-regular/models/best.p
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:f84439af7d4d8478e6570660219f2f10c405d412eb398c5ffb8a5c4c09d7cc2e
|
| 3 |
+
size 11492154
|
pretrained_models/swimmer/0/.hydra/config.yaml
ADDED
|
@@ -0,0 +1,118 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
project: Genesis
|
| 2 |
+
enable_wandb: true
|
| 3 |
+
cfg: swimmer
|
| 4 |
+
render: false
|
| 5 |
+
tmp: false
|
| 6 |
+
num_threads: 20
|
| 7 |
+
gpu_index: 0
|
| 8 |
+
epoch: '0'
|
| 9 |
+
show_noise: false
|
| 10 |
+
'n': 0
|
| 11 |
+
project_path: null
|
| 12 |
+
lr_decay: false
|
| 13 |
+
policy_optimizer: Adam
|
| 14 |
+
policy_lr: 5.0e-05
|
| 15 |
+
policy_momentum: 0.0
|
| 16 |
+
policy_weightdecay: 0.0
|
| 17 |
+
value_optimizer: Adam
|
| 18 |
+
value_lr: 0.0003
|
| 19 |
+
value_momentum: 0.0
|
| 20 |
+
value_weightdecay: 0.0
|
| 21 |
+
reward_shift: -0.0
|
| 22 |
+
clip_epsilon: 0.2
|
| 23 |
+
min_batch_size: 50000
|
| 24 |
+
max_epoch_num: 1000
|
| 25 |
+
mini_batch_size: 2048
|
| 26 |
+
num_optim_epoch: 10
|
| 27 |
+
norm_return: 1
|
| 28 |
+
norm_advantage: true
|
| 29 |
+
max_grad_norm: 40
|
| 30 |
+
uni_obs_norm: true
|
| 31 |
+
xml_name: default
|
| 32 |
+
use_separate_value: 1
|
| 33 |
+
planner_demean: 0
|
| 34 |
+
recompute_adv: 0
|
| 35 |
+
seed: 2
|
| 36 |
+
save_model_interval: 100
|
| 37 |
+
value_specs:
|
| 38 |
+
htype: tanh
|
| 39 |
+
mlp:
|
| 40 |
+
- 512
|
| 41 |
+
- 256
|
| 42 |
+
design_flag_in_state: true
|
| 43 |
+
message_type: transformer
|
| 44 |
+
gnn_specs:
|
| 45 |
+
layer_type: graph_conv
|
| 46 |
+
hdims:
|
| 47 |
+
- 64
|
| 48 |
+
- 64
|
| 49 |
+
- 64
|
| 50 |
+
aggr: add
|
| 51 |
+
bias: true
|
| 52 |
+
transformer_specs:
|
| 53 |
+
pos_emb_type: index
|
| 54 |
+
block_depth: 3
|
| 55 |
+
hidden_dim: 64
|
| 56 |
+
norm_type: pre
|
| 57 |
+
decay_type: none
|
| 58 |
+
decay_ratio: -4
|
| 59 |
+
policy_specs:
|
| 60 |
+
control_log_std: -0.0
|
| 61 |
+
attr_log_std: -2.3
|
| 62 |
+
fix_control_std: false
|
| 63 |
+
fix_attr_std: false
|
| 64 |
+
skel_message_type: transformer
|
| 65 |
+
control_message_type: transformer
|
| 66 |
+
attr_message_type: transformer
|
| 67 |
+
skel_transformer_specs:
|
| 68 |
+
pos_emb_type: index
|
| 69 |
+
block_depth: 3
|
| 70 |
+
hidden_dim: 64
|
| 71 |
+
norm_type: pre
|
| 72 |
+
decay_type: none
|
| 73 |
+
decay_ratio: -4
|
| 74 |
+
attr_transformer_specs:
|
| 75 |
+
pos_emb_type: index
|
| 76 |
+
block_depth: 3
|
| 77 |
+
hidden_dim: 64
|
| 78 |
+
norm_type: pre
|
| 79 |
+
decay_type: none
|
| 80 |
+
decay_ratio: -4
|
| 81 |
+
control_transformer_specs:
|
| 82 |
+
pos_emb_type: index
|
| 83 |
+
block_depth: 3
|
| 84 |
+
hidden_dim: 64
|
| 85 |
+
norm_type: pre
|
| 86 |
+
decay_type: none
|
| 87 |
+
decay_ratio: -4
|
| 88 |
+
use_skel_index_mlp: 0
|
| 89 |
+
use_control_index_mlp: 0
|
| 90 |
+
use_attr_index_mlp: 0
|
| 91 |
+
use_skel_shared_mlp: 0
|
| 92 |
+
use_control_shared_mlp: 0
|
| 93 |
+
use_attr_shared_mlp: 0
|
| 94 |
+
skel_shared_mlp_type: depth
|
| 95 |
+
control_shared_mlp_type: depth
|
| 96 |
+
attr_shared_mlp_type: depth
|
| 97 |
+
skel_shared_mlp:
|
| 98 |
+
hdims:
|
| 99 |
+
- 128
|
| 100 |
+
- 128
|
| 101 |
+
rescale_linear: true
|
| 102 |
+
max_index: 10
|
| 103 |
+
control_shared_mlp:
|
| 104 |
+
hdims:
|
| 105 |
+
- 128
|
| 106 |
+
- 128
|
| 107 |
+
rescale_linear: true
|
| 108 |
+
max_index: 10
|
| 109 |
+
attr_shared_mlp:
|
| 110 |
+
hdims:
|
| 111 |
+
- 128
|
| 112 |
+
- 128
|
| 113 |
+
rescale_linear: true
|
| 114 |
+
max_index: 10
|
| 115 |
+
obs_specs:
|
| 116 |
+
use_body_depth_height: true
|
| 117 |
+
use_shortest_distance: true
|
| 118 |
+
use_position_encoding: true
|
pretrained_models/swimmer/0/results/swimmer/models/best.p
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:bf8721d40f09ae799fa39ccbb303808f92f332bf465c6df8937721d9b1b1aa6b
|
| 3 |
+
size 11493142
|
pretrained_models/terraincrosser/0/.hydra/config.yaml
ADDED
|
@@ -0,0 +1,117 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
project: Genesis
|
| 2 |
+
enable_wandb: true
|
| 3 |
+
cfg: terraincrosser
|
| 4 |
+
render: false
|
| 5 |
+
tmp: false
|
| 6 |
+
num_threads: 20
|
| 7 |
+
gpu_index: 0
|
| 8 |
+
epoch: '0'
|
| 9 |
+
show_noise: false
|
| 10 |
+
'n': 0
|
| 11 |
+
project_path: null
|
| 12 |
+
lr_decay: false
|
| 13 |
+
policy_optimizer: Adam
|
| 14 |
+
policy_lr: 5.0e-05
|
| 15 |
+
policy_momentum: 0.0
|
| 16 |
+
policy_weightdecay: 0.0
|
| 17 |
+
value_optimizer: Adam
|
| 18 |
+
value_lr: 0.0003
|
| 19 |
+
value_momentum: 0.0
|
| 20 |
+
value_weightdecay: 0.0
|
| 21 |
+
reward_shift: -0.0
|
| 22 |
+
clip_epsilon: 0.2
|
| 23 |
+
min_batch_size: 50000
|
| 24 |
+
max_epoch_num: 1000
|
| 25 |
+
mini_batch_size: 2048
|
| 26 |
+
num_optim_epoch: 10
|
| 27 |
+
norm_return: 1
|
| 28 |
+
norm_advantage: true
|
| 29 |
+
max_grad_norm: 40
|
| 30 |
+
uni_obs_norm: true
|
| 31 |
+
xml_name: default
|
| 32 |
+
use_separate_value: 1
|
| 33 |
+
planner_demean: 0
|
| 34 |
+
recompute_adv: 0
|
| 35 |
+
seed: 3
|
| 36 |
+
save_model_interval: 100
|
| 37 |
+
value_specs:
|
| 38 |
+
htype: tanh
|
| 39 |
+
mlp:
|
| 40 |
+
- 512
|
| 41 |
+
- 256
|
| 42 |
+
message_type: transformer
|
| 43 |
+
gnn_specs:
|
| 44 |
+
layer_type: graph_conv
|
| 45 |
+
hdims:
|
| 46 |
+
- 64
|
| 47 |
+
- 64
|
| 48 |
+
- 64
|
| 49 |
+
aggr: add
|
| 50 |
+
bias: true
|
| 51 |
+
transformer_specs:
|
| 52 |
+
pos_emb_type: index
|
| 53 |
+
block_depth: 3
|
| 54 |
+
hidden_dim: 64
|
| 55 |
+
norm_type: pre
|
| 56 |
+
decay_type: none
|
| 57 |
+
decay_ratio: -4
|
| 58 |
+
policy_specs:
|
| 59 |
+
control_log_std: -0.5
|
| 60 |
+
attr_log_std: -2.3
|
| 61 |
+
fix_control_std: false
|
| 62 |
+
fix_attr_std: false
|
| 63 |
+
skel_message_type: transformer
|
| 64 |
+
control_message_type: transformer
|
| 65 |
+
attr_message_type: transformer
|
| 66 |
+
skel_transformer_specs:
|
| 67 |
+
pos_emb_type: index
|
| 68 |
+
block_depth: 3
|
| 69 |
+
hidden_dim: 64
|
| 70 |
+
norm_type: pre
|
| 71 |
+
decay_type: none
|
| 72 |
+
decay_ratio: -4
|
| 73 |
+
attr_transformer_specs:
|
| 74 |
+
pos_emb_type: index
|
| 75 |
+
block_depth: 3
|
| 76 |
+
hidden_dim: 64
|
| 77 |
+
norm_type: pre
|
| 78 |
+
decay_type: none
|
| 79 |
+
decay_ratio: -4
|
| 80 |
+
control_transformer_specs:
|
| 81 |
+
pos_emb_type: index
|
| 82 |
+
block_depth: 3
|
| 83 |
+
hidden_dim: 64
|
| 84 |
+
norm_type: pre
|
| 85 |
+
decay_type: none
|
| 86 |
+
decay_ratio: -4
|
| 87 |
+
use_skel_index_mlp: 0
|
| 88 |
+
use_control_index_mlp: 0
|
| 89 |
+
use_attr_index_mlp: 0
|
| 90 |
+
use_skel_shared_mlp: 0
|
| 91 |
+
use_control_shared_mlp: 0
|
| 92 |
+
use_attr_shared_mlp: 0
|
| 93 |
+
skel_shared_mlp_type: depth
|
| 94 |
+
control_shared_mlp_type: depth
|
| 95 |
+
attr_shared_mlp_type: depth
|
| 96 |
+
skel_shared_mlp:
|
| 97 |
+
hdims:
|
| 98 |
+
- 128
|
| 99 |
+
- 128
|
| 100 |
+
rescale_linear: true
|
| 101 |
+
max_index: 10
|
| 102 |
+
control_shared_mlp:
|
| 103 |
+
hdims:
|
| 104 |
+
- 128
|
| 105 |
+
- 128
|
| 106 |
+
rescale_linear: true
|
| 107 |
+
max_index: 10
|
| 108 |
+
attr_shared_mlp:
|
| 109 |
+
hdims:
|
| 110 |
+
- 128
|
| 111 |
+
- 128
|
| 112 |
+
rescale_linear: true
|
| 113 |
+
max_index: 10
|
| 114 |
+
obs_specs:
|
| 115 |
+
use_body_depth_height: true
|
| 116 |
+
use_shortest_distance: true
|
| 117 |
+
use_position_encoding: true
|
pretrained_models/terraincrosser/0/results/terraincrosser/models/best.p
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:0f796a2c4fe28d49ae3b22b44b89a02c77e20f34adc1d122fd22c7a6384b0d1c
|
| 3 |
+
size 11497304
|
pretrained_models/walker-hard/0/.hydra/config.yaml
ADDED
|
@@ -0,0 +1,117 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
project: Genesis
|
| 2 |
+
enable_wandb: true
|
| 3 |
+
cfg: walker-hard
|
| 4 |
+
render: false
|
| 5 |
+
tmp: false
|
| 6 |
+
num_threads: 20
|
| 7 |
+
gpu_index: 0
|
| 8 |
+
epoch: '0'
|
| 9 |
+
show_noise: false
|
| 10 |
+
'n': 0
|
| 11 |
+
project_path: null
|
| 12 |
+
lr_decay: false
|
| 13 |
+
policy_optimizer: Adam
|
| 14 |
+
policy_lr: 5.0e-05
|
| 15 |
+
policy_momentum: 0.0
|
| 16 |
+
policy_weightdecay: 0.0
|
| 17 |
+
value_optimizer: Adam
|
| 18 |
+
value_lr: 0.0003
|
| 19 |
+
value_momentum: 0.0
|
| 20 |
+
value_weightdecay: 0.0
|
| 21 |
+
reward_shift: -0.0
|
| 22 |
+
clip_epsilon: 0.2
|
| 23 |
+
min_batch_size: 50000
|
| 24 |
+
max_epoch_num: 1000
|
| 25 |
+
mini_batch_size: 2048
|
| 26 |
+
num_optim_epoch: 10
|
| 27 |
+
norm_return: 1
|
| 28 |
+
norm_advantage: true
|
| 29 |
+
max_grad_norm: 40
|
| 30 |
+
uni_obs_norm: true
|
| 31 |
+
xml_name: default
|
| 32 |
+
use_separate_value: 1
|
| 33 |
+
planner_demean: 0
|
| 34 |
+
recompute_adv: 0
|
| 35 |
+
seed: 4
|
| 36 |
+
save_model_interval: 100
|
| 37 |
+
value_specs:
|
| 38 |
+
htype: tanh
|
| 39 |
+
mlp:
|
| 40 |
+
- 512
|
| 41 |
+
- 256
|
| 42 |
+
message_type: transformer
|
| 43 |
+
gnn_specs:
|
| 44 |
+
layer_type: graph_conv
|
| 45 |
+
hdims:
|
| 46 |
+
- 64
|
| 47 |
+
- 64
|
| 48 |
+
- 64
|
| 49 |
+
aggr: add
|
| 50 |
+
bias: true
|
| 51 |
+
transformer_specs:
|
| 52 |
+
pos_emb_type: index
|
| 53 |
+
block_depth: 3
|
| 54 |
+
hidden_dim: 64
|
| 55 |
+
norm_type: pre
|
| 56 |
+
decay_type: none
|
| 57 |
+
decay_ratio: -4
|
| 58 |
+
policy_specs:
|
| 59 |
+
control_log_std: -0.0
|
| 60 |
+
attr_log_std: -2.3
|
| 61 |
+
fix_control_std: false
|
| 62 |
+
fix_attr_std: false
|
| 63 |
+
skel_message_type: transformer
|
| 64 |
+
control_message_type: transformer
|
| 65 |
+
attr_message_type: transformer
|
| 66 |
+
skel_transformer_specs:
|
| 67 |
+
pos_emb_type: index
|
| 68 |
+
block_depth: 3
|
| 69 |
+
hidden_dim: 64
|
| 70 |
+
norm_type: pre
|
| 71 |
+
decay_type: none
|
| 72 |
+
decay_ratio: -4
|
| 73 |
+
attr_transformer_specs:
|
| 74 |
+
pos_emb_type: index
|
| 75 |
+
block_depth: 3
|
| 76 |
+
hidden_dim: 64
|
| 77 |
+
norm_type: pre
|
| 78 |
+
decay_type: none
|
| 79 |
+
decay_ratio: -4
|
| 80 |
+
control_transformer_specs:
|
| 81 |
+
pos_emb_type: index
|
| 82 |
+
block_depth: 3
|
| 83 |
+
hidden_dim: 64
|
| 84 |
+
norm_type: pre
|
| 85 |
+
decay_type: none
|
| 86 |
+
decay_ratio: -4
|
| 87 |
+
use_skel_index_mlp: 0
|
| 88 |
+
use_control_index_mlp: 0
|
| 89 |
+
use_attr_index_mlp: 0
|
| 90 |
+
use_skel_shared_mlp: 0
|
| 91 |
+
use_control_shared_mlp: 0
|
| 92 |
+
use_attr_shared_mlp: 0
|
| 93 |
+
skel_shared_mlp_type: depth
|
| 94 |
+
control_shared_mlp_type: depth
|
| 95 |
+
attr_shared_mlp_type: depth
|
| 96 |
+
skel_shared_mlp:
|
| 97 |
+
hdims:
|
| 98 |
+
- 128
|
| 99 |
+
- 128
|
| 100 |
+
rescale_linear: true
|
| 101 |
+
max_index: 10
|
| 102 |
+
control_shared_mlp:
|
| 103 |
+
hdims:
|
| 104 |
+
- 128
|
| 105 |
+
- 128
|
| 106 |
+
rescale_linear: true
|
| 107 |
+
max_index: 10
|
| 108 |
+
attr_shared_mlp:
|
| 109 |
+
hdims:
|
| 110 |
+
- 128
|
| 111 |
+
- 128
|
| 112 |
+
rescale_linear: true
|
| 113 |
+
max_index: 10
|
| 114 |
+
obs_specs:
|
| 115 |
+
use_body_depth_height: true
|
| 116 |
+
use_shortest_distance: true
|
| 117 |
+
use_position_encoding: true
|
pretrained_models/walker-hard/0/results/walker-hard/models/best.p
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:038d338188c6166afdb8f48ae2905ef6e50eec027408f4cce88d874746334dab
|
| 3 |
+
size 11495284
|
pretrained_models/walker-medium/0/.hydra/config.yaml
ADDED
|
@@ -0,0 +1,117 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
project: Genesis
|
| 2 |
+
enable_wandb: true
|
| 3 |
+
cfg: walker-medium
|
| 4 |
+
render: false
|
| 5 |
+
tmp: false
|
| 6 |
+
num_threads: 20
|
| 7 |
+
gpu_index: 0
|
| 8 |
+
epoch: '0'
|
| 9 |
+
show_noise: false
|
| 10 |
+
'n': 0
|
| 11 |
+
project_path: null
|
| 12 |
+
lr_decay: false
|
| 13 |
+
policy_optimizer: Adam
|
| 14 |
+
policy_lr: 5.0e-05
|
| 15 |
+
policy_momentum: 0.0
|
| 16 |
+
policy_weightdecay: 0.0
|
| 17 |
+
value_optimizer: Adam
|
| 18 |
+
value_lr: 0.0003
|
| 19 |
+
value_momentum: 0.0
|
| 20 |
+
value_weightdecay: 0.0
|
| 21 |
+
reward_shift: -0.0
|
| 22 |
+
clip_epsilon: 0.2
|
| 23 |
+
min_batch_size: 50000
|
| 24 |
+
max_epoch_num: 1000
|
| 25 |
+
mini_batch_size: 2048
|
| 26 |
+
num_optim_epoch: 10
|
| 27 |
+
norm_return: 1
|
| 28 |
+
norm_advantage: true
|
| 29 |
+
max_grad_norm: 40
|
| 30 |
+
uni_obs_norm: true
|
| 31 |
+
xml_name: default
|
| 32 |
+
use_separate_value: 1
|
| 33 |
+
planner_demean: 0
|
| 34 |
+
recompute_adv: 0
|
| 35 |
+
seed: 3
|
| 36 |
+
save_model_interval: 100
|
| 37 |
+
value_specs:
|
| 38 |
+
htype: tanh
|
| 39 |
+
mlp:
|
| 40 |
+
- 512
|
| 41 |
+
- 256
|
| 42 |
+
message_type: transformer
|
| 43 |
+
gnn_specs:
|
| 44 |
+
layer_type: graph_conv
|
| 45 |
+
hdims:
|
| 46 |
+
- 64
|
| 47 |
+
- 64
|
| 48 |
+
- 64
|
| 49 |
+
aggr: add
|
| 50 |
+
bias: true
|
| 51 |
+
transformer_specs:
|
| 52 |
+
pos_emb_type: index
|
| 53 |
+
block_depth: 3
|
| 54 |
+
hidden_dim: 64
|
| 55 |
+
norm_type: pre
|
| 56 |
+
decay_type: none
|
| 57 |
+
decay_ratio: -4
|
| 58 |
+
policy_specs:
|
| 59 |
+
control_log_std: -0.0
|
| 60 |
+
attr_log_std: -2.3
|
| 61 |
+
fix_control_std: false
|
| 62 |
+
fix_attr_std: false
|
| 63 |
+
skel_message_type: transformer
|
| 64 |
+
control_message_type: transformer
|
| 65 |
+
attr_message_type: transformer
|
| 66 |
+
skel_transformer_specs:
|
| 67 |
+
pos_emb_type: index
|
| 68 |
+
block_depth: 3
|
| 69 |
+
hidden_dim: 64
|
| 70 |
+
norm_type: pre
|
| 71 |
+
decay_type: none
|
| 72 |
+
decay_ratio: -4
|
| 73 |
+
attr_transformer_specs:
|
| 74 |
+
pos_emb_type: index
|
| 75 |
+
block_depth: 3
|
| 76 |
+
hidden_dim: 64
|
| 77 |
+
norm_type: pre
|
| 78 |
+
decay_type: none
|
| 79 |
+
decay_ratio: -4
|
| 80 |
+
control_transformer_specs:
|
| 81 |
+
pos_emb_type: index
|
| 82 |
+
block_depth: 3
|
| 83 |
+
hidden_dim: 64
|
| 84 |
+
norm_type: pre
|
| 85 |
+
decay_type: none
|
| 86 |
+
decay_ratio: -4
|
| 87 |
+
use_skel_index_mlp: 0
|
| 88 |
+
use_control_index_mlp: 0
|
| 89 |
+
use_attr_index_mlp: 0
|
| 90 |
+
use_skel_shared_mlp: 0
|
| 91 |
+
use_control_shared_mlp: 0
|
| 92 |
+
use_attr_shared_mlp: 0
|
| 93 |
+
skel_shared_mlp_type: depth
|
| 94 |
+
control_shared_mlp_type: depth
|
| 95 |
+
attr_shared_mlp_type: depth
|
| 96 |
+
skel_shared_mlp:
|
| 97 |
+
hdims:
|
| 98 |
+
- 128
|
| 99 |
+
- 128
|
| 100 |
+
rescale_linear: true
|
| 101 |
+
max_index: 10
|
| 102 |
+
control_shared_mlp:
|
| 103 |
+
hdims:
|
| 104 |
+
- 128
|
| 105 |
+
- 128
|
| 106 |
+
rescale_linear: true
|
| 107 |
+
max_index: 10
|
| 108 |
+
attr_shared_mlp:
|
| 109 |
+
hdims:
|
| 110 |
+
- 128
|
| 111 |
+
- 128
|
| 112 |
+
rescale_linear: true
|
| 113 |
+
max_index: 10
|
| 114 |
+
obs_specs:
|
| 115 |
+
use_body_depth_height: true
|
| 116 |
+
use_shortest_distance: true
|
| 117 |
+
use_position_encoding: true
|
pretrained_models/walker-medium/0/results/walker-medium/models/best.p
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:444a03a5f29cd2977344c97969499ecf0634f200383b9a37bfcda9453b0d1072
|
| 3 |
+
size 11495318
|
pretrained_models/walker-regular/.DS_Store
ADDED
|
Binary file (6.15 kB). View file
|
|
|
pretrained_models/walker-regular/0/.DS_Store
ADDED
|
Binary file (6.15 kB). View file
|
|
|
pretrained_models/walker-regular/0/.hydra/config.yaml
ADDED
|
@@ -0,0 +1,117 @@
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|
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|
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|
| 1 |
+
project: Genesis
|
| 2 |
+
enable_wandb: true
|
| 3 |
+
cfg: walker-regular
|
| 4 |
+
render: false
|
| 5 |
+
tmp: false
|
| 6 |
+
num_threads: 20
|
| 7 |
+
gpu_index: 0
|
| 8 |
+
epoch: '0'
|
| 9 |
+
show_noise: false
|
| 10 |
+
'n': 0
|
| 11 |
+
project_path: null
|
| 12 |
+
lr_decay: false
|
| 13 |
+
policy_optimizer: Adam
|
| 14 |
+
policy_lr: 5.0e-05
|
| 15 |
+
policy_momentum: 0.0
|
| 16 |
+
policy_weightdecay: 0.0
|
| 17 |
+
value_optimizer: Adam
|
| 18 |
+
value_lr: 0.0003
|
| 19 |
+
value_momentum: 0.0
|
| 20 |
+
value_weightdecay: 0.0
|
| 21 |
+
reward_shift: -0.0
|
| 22 |
+
clip_epsilon: 0.2
|
| 23 |
+
min_batch_size: 50000
|
| 24 |
+
max_epoch_num: 1000
|
| 25 |
+
mini_batch_size: 2048
|
| 26 |
+
num_optim_epoch: 10
|
| 27 |
+
norm_return: 1
|
| 28 |
+
norm_advantage: true
|
| 29 |
+
max_grad_norm: 40
|
| 30 |
+
uni_obs_norm: true
|
| 31 |
+
xml_name: default
|
| 32 |
+
use_separate_value: 1
|
| 33 |
+
planner_demean: 0
|
| 34 |
+
recompute_adv: 0
|
| 35 |
+
seed: 1
|
| 36 |
+
save_model_interval: 100
|
| 37 |
+
value_specs:
|
| 38 |
+
htype: tanh
|
| 39 |
+
mlp:
|
| 40 |
+
- 512
|
| 41 |
+
- 256
|
| 42 |
+
message_type: transformer
|
| 43 |
+
gnn_specs:
|
| 44 |
+
layer_type: graph_conv
|
| 45 |
+
hdims:
|
| 46 |
+
- 64
|
| 47 |
+
- 64
|
| 48 |
+
- 64
|
| 49 |
+
aggr: add
|
| 50 |
+
bias: true
|
| 51 |
+
transformer_specs:
|
| 52 |
+
pos_emb_type: index
|
| 53 |
+
block_depth: 3
|
| 54 |
+
hidden_dim: 64
|
| 55 |
+
norm_type: pre
|
| 56 |
+
decay_type: none
|
| 57 |
+
decay_ratio: -4
|
| 58 |
+
policy_specs:
|
| 59 |
+
control_log_std: -0.0
|
| 60 |
+
attr_log_std: -2.3
|
| 61 |
+
fix_control_std: false
|
| 62 |
+
fix_attr_std: false
|
| 63 |
+
skel_message_type: transformer
|
| 64 |
+
control_message_type: transformer
|
| 65 |
+
attr_message_type: transformer
|
| 66 |
+
skel_transformer_specs:
|
| 67 |
+
pos_emb_type: index
|
| 68 |
+
block_depth: 3
|
| 69 |
+
hidden_dim: 64
|
| 70 |
+
norm_type: pre
|
| 71 |
+
decay_type: none
|
| 72 |
+
decay_ratio: -4
|
| 73 |
+
attr_transformer_specs:
|
| 74 |
+
pos_emb_type: index
|
| 75 |
+
block_depth: 3
|
| 76 |
+
hidden_dim: 64
|
| 77 |
+
norm_type: pre
|
| 78 |
+
decay_type: none
|
| 79 |
+
decay_ratio: -4
|
| 80 |
+
control_transformer_specs:
|
| 81 |
+
pos_emb_type: index
|
| 82 |
+
block_depth: 3
|
| 83 |
+
hidden_dim: 64
|
| 84 |
+
norm_type: pre
|
| 85 |
+
decay_type: none
|
| 86 |
+
decay_ratio: -4
|
| 87 |
+
use_skel_index_mlp: 0
|
| 88 |
+
use_control_index_mlp: 0
|
| 89 |
+
use_attr_index_mlp: 0
|
| 90 |
+
use_skel_shared_mlp: 0
|
| 91 |
+
use_control_shared_mlp: 0
|
| 92 |
+
use_attr_shared_mlp: 0
|
| 93 |
+
skel_shared_mlp_type: depth
|
| 94 |
+
control_shared_mlp_type: depth
|
| 95 |
+
attr_shared_mlp_type: depth
|
| 96 |
+
skel_shared_mlp:
|
| 97 |
+
hdims:
|
| 98 |
+
- 128
|
| 99 |
+
- 128
|
| 100 |
+
rescale_linear: true
|
| 101 |
+
max_index: 10
|
| 102 |
+
control_shared_mlp:
|
| 103 |
+
hdims:
|
| 104 |
+
- 128
|
| 105 |
+
- 128
|
| 106 |
+
rescale_linear: true
|
| 107 |
+
max_index: 10
|
| 108 |
+
attr_shared_mlp:
|
| 109 |
+
hdims:
|
| 110 |
+
- 128
|
| 111 |
+
- 128
|
| 112 |
+
rescale_linear: true
|
| 113 |
+
max_index: 10
|
| 114 |
+
obs_specs:
|
| 115 |
+
use_body_depth_height: true
|
| 116 |
+
use_shortest_distance: true
|
| 117 |
+
use_position_encoding: true
|
pretrained_models/walker-regular/0/results/.DS_Store
ADDED
|
Binary file (6.15 kB). View file
|
|
|
pretrained_models/walker-regular/0/results/walker-regular/.DS_Store
ADDED
|
Binary file (6.15 kB). View file
|
|
|
pretrained_models/walker-regular/0/results/walker-regular/models/best.p
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:5ea050a884a4250f4f1efdf3225ee1aca59bfce43a5272d0540bb9821541d1f6
|
| 3 |
+
size 11495246
|