| project_name: DiscoDemo |
| entity_name: null |
| group_name: fmb_round |
| exp_name: prfcl-fmb_round |
| seed: 0 |
| logger_type: wandb |
| save_path: libs/FlashSAC/models/fmb_round/prfcl-fmb_round/seed0-TIMESTAMP |
| agent_load_path: null |
| num_env_steps: 50000000 |
| num_train_envs: 2048 |
| updates_per_interaction_step: 64 |
| gamma: 0.99 |
| n_step: 8 |
| env: |
| workcell: libs/real2sim/assets/workcell.json |
| task: libs/real2sim/real2sim/tasks/fmb_round.py |
| env_version: fr3-fmb_round |
| gripper_lock: closed |
| success_hold_steps: 20 |
| agent: |
| agent_type: flashSAC |
| seed: 0 |
| device_type: cuda |
| buffer_max_length: 100000000 |
| buffer_min_length: 5000 |
| buffer_device_type: cuda |
| sample_batch_size: 2048 |
| normalize_reward: true |
| normalized_G_max: 5.0 |
| asymmetric_observation: false |
| learning_rate_init: 0.0003 |
| learning_rate_peak: 0.0003 |
| learning_rate_end: 0.00015 |
| learning_rate_warmup_rate: 1.0e-06 |
| learning_rate_warmup_step: 50 |
| learning_rate_decay_rate: 1.0 |
| learning_rate_decay_step: 50000000 |
| actor_num_blocks: 2 |
| actor_hidden_dim: 128 |
| actor_bc_alpha: 0.0 |
| actor_noise_zeta_mu: 2.0 |
| actor_noise_zeta_max: 16 |
| actor_update_period: 2 |
| critic_num_blocks: 2 |
| critic_hidden_dim: 256 |
| critic_num_bins: 101 |
| critic_min_v: -5 |
| critic_max_v: 5 |
| critic_target_update_tau: 0.01 |
| temp_initial_value: 0.01 |
| temp_target_sigma: 0.15 |
| temp_target_entropy: null |
| gamma: 0.99 |
| n_step: 8 |
| use_compile: true |
| compile_mode: auto |
| use_amp: true |
| load_optimizer: true |
| load_reward_normalizer: true |
| rfcl: |
| demo_ratio: 0.5 |
| truncate_after_success: 50 |
| reverse: |
| reverse_step_size: 16 |
| advance_threshold: 0.9 |
| frontier_window: 10 |
| minimum_episode_steps: 30 |
| solved_frac_threshold: 0.5 |
| demo_path: data/demo_banks/fmb_round/human_demos.h5 |
| init_pose: pregrasp:0.03,15 |
| eval_worker: |
| num_envs: 50 |
| skill: |
| phi_hidden: |
| - 256 |
| - 256 |
| phi_lr: 0.0001 |
| dual_slack: 0.001 |
| lam_init: 1.0 |
| alpha: 0.0 |
| z_dim: 0 |
| safety_penalty: |
| illegal_contact: |
| weight: 0.0001 |
| sat: 100 |
| robot_bodies: |
| - panda_link5 |
| - panda_link6 |
| - panda_link7 |
| - panda_hand |
| - panda_leftfinger |
| - panda_rightfinger |
| scene_bodies: |
| - peg |
| - board |
| - table |
| allowed_pairs: |
| - - panda_leftfinger |
| - peg |
| - - panda_rightfinger |
| - peg |
| obj_press: |
| weight: 1.0e-06 |
| deadband_axial: 5.0 |
| deadband_lateral: 15.0 |
| sat: 100.0 |
| surfaces: |
| - board |
| obs_bounds: |
| object_z_m: |
| - 0.0 |
| - 0.6 |
| eef_box_m: |
| x: |
| - 0.2 |
| - 0.85 |
| 'y': |
| - -0.45 |
| - 0.45 |
| z: |
| - 0.0 |
| - 0.7 |
| object_xy: |
| - - 0.25 |
| - 0.65 |
| - - -0.25 |
| - 0.15 |
| task_name: fmb_round |
| jerk_limited_action: |
| max_joint_velocity: |
| - 0.064647 |
| - 0.302688 |
| - 0.038798 |
| - 0.204246 |
| - 0.062298 |
| - 0.22632 |
| - 0.158129 |
| max_joint_acceleration: |
| - 0.282529 |
| - 1.014956 |
| - 0.214617 |
| - 0.815227 |
| - 0.380235 |
| - 0.976661 |
| - 0.772141 |
| max_joint_jerk: |
| - 2.163004 |
| - 6.546905 |
| - 1.738629 |
| - 5.853743 |
| - 3.615127 |
| - 7.643317 |
| - 5.826977 |
| method_name: prfcl |
|
|
