dodox/dppo
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

squash commits

Browse Source
This commit is contained in:
allenzren
2024-09-11 21:09:17 -04:00
parent 8ce0aa1485
commit 2ddf63b8f5
200 changed files with 1240 additions and 1186 deletions
Download Patch File Download Diff File Expand all files Collapse all files
cfg/d3il/finetune/avoid_m1/ft_ppo_diffusion_mlp.yaml
+1 -3
View File
@@ -105,15 +105,13 @@ model:
transition_dim: ${transition_dim}
critic:
_target_: model.common.critic.CriticObs
obs_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
mlp_dims: [256, 256, 256]
activation_type: Mish
residual_style: True
ft_denoising_steps: ${ft_denoising_steps}
transition_dim: ${transition_dim}
horizon_steps: ${horizon_steps}
obs_dim: ${obs_dim}
action_dim: ${action_dim}
cond_steps: ${cond_steps}
denoising_steps: ${denoising_steps}
device: ${device}
cfg/d3il/finetune/avoid_m1/ft_ppo_gaussian_mlp.yaml
+1 -2
View File
@@ -99,7 +99,6 @@ model:
_target_: model.common.critic.CriticObs
mlp_dims: [256, 256, 256]
residual_style: True
obs_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
horizon_steps: ${horizon_steps}
cond_steps: ${cond_steps}
device: ${device}
cfg/d3il/finetune/avoid_m1/ft_ppo_gmm_mlp.yaml
+1 -2
View File
@@ -100,7 +100,6 @@ model:
_target_: model.common.critic.CriticObs
mlp_dims: [256, 256, 256]
residual_style: True
obs_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
horizon_steps: ${horizon_steps}
cond_steps: ${cond_steps}
device: ${device}
cfg/d3il/finetune/avoid_m2/ft_ppo_diffusion_mlp.yaml
+1 -3
View File
@@ -105,15 +105,13 @@ model:
transition_dim: ${transition_dim}
critic:
_target_: model.common.critic.CriticObs
obs_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
mlp_dims: [256, 256, 256]
activation_type: Mish
residual_style: True
ft_denoising_steps: ${ft_denoising_steps}
transition_dim: ${transition_dim}
horizon_steps: ${horizon_steps}
obs_dim: ${obs_dim}
action_dim: ${action_dim}
cond_steps: ${cond_steps}
denoising_steps: ${denoising_steps}
device: ${device}
cfg/d3il/finetune/avoid_m2/ft_ppo_gaussian_mlp.yaml
+1 -2
View File
@@ -99,7 +99,6 @@ model:
_target_: model.common.critic.CriticObs
mlp_dims: [256, 256, 256]
residual_style: True
obs_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
horizon_steps: ${horizon_steps}
cond_steps: ${cond_steps}
device: ${device}
cfg/d3il/finetune/avoid_m2/ft_ppo_gmm_mlp.yaml
+1 -2
View File
@@ -100,7 +100,6 @@ model:
_target_: model.common.critic.CriticObs
mlp_dims: [256, 256, 256]
residual_style: True
obs_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
horizon_steps: ${horizon_steps}
cond_steps: ${cond_steps}
device: ${device}
cfg/d3il/finetune/avoid_m3/ft_ppo_diffusion_mlp.yaml
+1 -3
View File
@@ -105,15 +105,13 @@ model:
transition_dim: ${transition_dim}
critic:
_target_: model.common.critic.CriticObs
obs_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
mlp_dims: [256, 256, 256]
activation_type: Mish
residual_style: True
ft_denoising_steps: ${ft_denoising_steps}
transition_dim: ${transition_dim}
horizon_steps: ${horizon_steps}
obs_dim: ${obs_dim}
action_dim: ${action_dim}
cond_steps: ${cond_steps}
denoising_steps: ${denoising_steps}
device: ${device}
cfg/d3il/finetune/avoid_m3/ft_ppo_gaussian_mlp.yaml
+1 -2
View File
@@ -99,7 +99,6 @@ model:
_target_: model.common.critic.CriticObs
mlp_dims: [256, 256, 256]
residual_style: True
obs_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
horizon_steps: ${horizon_steps}
cond_steps: ${cond_steps}
device: ${device}
cfg/d3il/finetune/avoid_m3/ft_ppo_gmm_mlp.yaml
+1 -2
View File
@@ -100,7 +100,6 @@ model:
_target_: model.common.critic.CriticObs
mlp_dims: [256, 256, 256]
residual_style: True
obs_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
horizon_steps: ${horizon_steps}
cond_steps: ${cond_steps}
device: ${device}
cfg/d3il/pretrain/avoid_m1/pre_diffusion_mlp.yaml
-2
View File
@@ -54,9 +54,7 @@ model:
horizon_steps: ${horizon_steps}
obs_dim: ${obs_dim}
action_dim: ${action_dim}
transition_dim: ${transition_dim}
denoising_steps: ${denoising_steps}
cond_steps: ${cond_steps}
device: ${device}
ema:
cfg/d3il/pretrain/avoid_m1/pre_gmm_mlp.yaml
+1 -1
View File
@@ -47,7 +47,7 @@ model:
residual_style: False
fixed_std: 0.1
num_modes: ${num_modes}
cond_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
horizon_steps: ${horizon_steps}
transition_dim: ${transition_dim}
horizon_steps: ${horizon_steps}
cfg/d3il/pretrain/avoid_m2/pre_diffusion_mlp.yaml
-2
View File
@@ -54,9 +54,7 @@ model:
horizon_steps: ${horizon_steps}
obs_dim: ${obs_dim}
action_dim: ${action_dim}
transition_dim: ${transition_dim}
denoising_steps: ${denoising_steps}
cond_steps: ${cond_steps}
device: ${device}
ema:
cfg/d3il/pretrain/avoid_m2/pre_gmm_mlp.yaml
+1 -1
View File
@@ -47,7 +47,7 @@ model:
residual_style: False
fixed_std: 0.1
num_modes: ${num_modes}
cond_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
horizon_steps: ${horizon_steps}
transition_dim: ${transition_dim}
horizon_steps: ${horizon_steps}
cfg/d3il/pretrain/avoid_m3/pre_diffusion_mlp.yaml
-2
View File
@@ -54,9 +54,7 @@ model:
horizon_steps: ${horizon_steps}
obs_dim: ${obs_dim}
action_dim: ${action_dim}
transition_dim: ${transition_dim}
denoising_steps: ${denoising_steps}
cond_steps: ${cond_steps}
device: ${device}
ema:
cfg/d3il/pretrain/avoid_m3/pre_gmm_mlp.yaml
+1 -1
View File
@@ -47,7 +47,7 @@ model:
residual_style: False
fixed_std: 0.1
num_modes: ${num_modes}
cond_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
horizon_steps: ${horizon_steps}
transition_dim: ${transition_dim}
horizon_steps: ${horizon_steps}
cfg/furniture/finetune/lamp_low/ft_ppo_diffusion_mlp.yaml
+1 -3
View File
@@ -107,15 +107,13 @@ model:
transition_dim: ${transition_dim}
critic:
_target_: model.common.critic.CriticObs
obs_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
mlp_dims: [512, 512, 512]
activation_type: Mish
residual_style: True
ft_denoising_steps: ${ft_denoising_steps}
transition_dim: ${transition_dim}
horizon_steps: ${horizon_steps}
obs_dim: ${obs_dim}
action_dim: ${action_dim}
cond_steps: ${cond_steps}
denoising_steps: ${denoising_steps}
device: ${device}
cfg/furniture/finetune/lamp_low/ft_ppo_diffusion_unet.yaml
+1 -3
View File
@@ -109,15 +109,13 @@ model:
transition_dim: ${transition_dim}
critic:
_target_: model.common.critic.CriticObs
obs_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
mlp_dims: [512, 512, 512]
activation_type: Mish
residual_style: True
ft_denoising_steps: ${ft_denoising_steps}
transition_dim: ${transition_dim}
horizon_steps: ${horizon_steps}
obs_dim: ${obs_dim}
action_dim: ${action_dim}
cond_steps: ${cond_steps}
denoising_steps: ${denoising_steps}
device: ${device}
cfg/furniture/finetune/lamp_low/ft_ppo_gaussian_mlp.yaml
+2 -3
View File
@@ -95,15 +95,14 @@ model:
learn_fixed_std: True
std_min: 0.01
std_max: 0.2
cond_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
horizon_steps: ${horizon_steps}
transition_dim: ${transition_dim}
critic:
_target_: model.common.critic.CriticObs
obs_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
mlp_dims: [512, 512, 512]
activation_type: Mish
residual_style: True
horizon_steps: ${horizon_steps}
cond_steps: ${cond_steps}
device: ${device}
cfg/furniture/finetune/lamp_med/ft_ppo_diffusion_mlp.yaml
+1 -3
View File
@@ -107,15 +107,13 @@ model:
transition_dim: ${transition_dim}
critic:
_target_: model.common.critic.CriticObs
obs_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
mlp_dims: [512, 512, 512]
activation_type: Mish
residual_style: True
ft_denoising_steps: ${ft_denoising_steps}
transition_dim: ${transition_dim}
horizon_steps: ${horizon_steps}
obs_dim: ${obs_dim}
action_dim: ${action_dim}
cond_steps: ${cond_steps}
denoising_steps: ${denoising_steps}
device: ${device}
cfg/furniture/finetune/lamp_med/ft_ppo_diffusion_unet.yaml
+1 -3
View File
@@ -108,15 +108,13 @@ model:
transition_dim: ${transition_dim}
critic:
_target_: model.common.critic.CriticObs
obs_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
mlp_dims: [512, 512, 512]
activation_type: Mish
residual_style: True
ft_denoising_steps: ${ft_denoising_steps}
transition_dim: ${transition_dim}
horizon_steps: ${horizon_steps}
obs_dim: ${obs_dim}
action_dim: ${action_dim}
cond_steps: ${cond_steps}
denoising_steps: ${denoising_steps}
device: ${device}
cfg/furniture/finetune/lamp_med/ft_ppo_gaussian_mlp.yaml
+2 -3
View File
@@ -95,15 +95,14 @@ model:
learn_fixed_std: True
std_min: 0.01
std_max: 0.2
cond_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
horizon_steps: ${horizon_steps}
transition_dim: ${transition_dim}
critic:
_target_: model.common.critic.CriticObs
obs_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
mlp_dims: [512, 512, 512]
activation_type: Mish
residual_style: True
horizon_steps: ${horizon_steps}
cond_steps: ${cond_steps}
device: ${device}
cfg/furniture/finetune/one_leg_low/ft_ppo_diffusion_mlp.yaml
+1 -3
View File
@@ -107,15 +107,13 @@ model:
transition_dim: ${transition_dim}
critic:
_target_: model.common.critic.CriticObs
obs_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
mlp_dims: [512, 512, 512]
activation_type: Mish
residual_style: True
ft_denoising_steps: ${ft_denoising_steps}
transition_dim: ${transition_dim}
horizon_steps: ${horizon_steps}
obs_dim: ${obs_dim}
action_dim: ${action_dim}
cond_steps: ${cond_steps}
denoising_steps: ${denoising_steps}
device: ${device}
cfg/furniture/finetune/one_leg_low/ft_ppo_diffusion_unet.yaml
+1 -3
View File
@@ -109,15 +109,13 @@ model:
transition_dim: ${transition_dim}
critic:
_target_: model.common.critic.CriticObs
obs_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
mlp_dims: [512, 512, 512]
activation_type: Mish
residual_style: True
ft_denoising_steps: ${ft_denoising_steps}
transition_dim: ${transition_dim}
horizon_steps: ${horizon_steps}
obs_dim: ${obs_dim}
action_dim: ${action_dim}
cond_steps: ${cond_steps}
denoising_steps: ${denoising_steps}
device: ${device}
cfg/furniture/finetune/one_leg_low/ft_ppo_gaussian_mlp.yaml
+2 -3
View File
@@ -95,15 +95,14 @@ model:
learn_fixed_std: True
std_min: 0.01
std_max: 0.2
cond_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
horizon_steps: ${horizon_steps}
transition_dim: ${transition_dim}
critic:
_target_: model.common.critic.CriticObs
obs_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
mlp_dims: [512, 512, 512]
activation_type: Mish
residual_style: True
horizon_steps: ${horizon_steps}
cond_steps: ${cond_steps}
device: ${device}
cfg/furniture/finetune/one_leg_med/ft_ppo_diffusion_mlp.yaml
+1 -3
View File
@@ -107,15 +107,13 @@ model:
transition_dim: ${transition_dim}
critic:
_target_: model.common.critic.CriticObs
obs_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
mlp_dims: [512, 512, 512]
activation_type: Mish
residual_style: True
ft_denoising_steps: ${ft_denoising_steps}
transition_dim: ${transition_dim}
horizon_steps: ${horizon_steps}
obs_dim: ${obs_dim}
action_dim: ${action_dim}
cond_steps: ${cond_steps}
denoising_steps: ${denoising_steps}
device: ${device}
cfg/furniture/finetune/one_leg_med/ft_ppo_diffusion_unet.yaml
+1 -3
View File
@@ -109,15 +109,13 @@ model:
transition_dim: ${transition_dim}
critic:
_target_: model.common.critic.CriticObs
obs_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
mlp_dims: [512, 512, 512]
activation_type: Mish
residual_style: True
ft_denoising_steps: ${ft_denoising_steps}
transition_dim: ${transition_dim}
horizon_steps: ${horizon_steps}
obs_dim: ${obs_dim}
action_dim: ${action_dim}
cond_steps: ${cond_steps}
denoising_steps: ${denoising_steps}
device: ${device}
cfg/furniture/finetune/one_leg_med/ft_ppo_gaussian_mlp.yaml
+2 -3
View File
@@ -95,15 +95,14 @@ model:
learn_fixed_std: True
std_min: 0.01
std_max: 0.2
cond_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
horizon_steps: ${horizon_steps}
transition_dim: ${transition_dim}
critic:
_target_: model.common.critic.CriticObs
obs_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
mlp_dims: [512, 512, 512]
activation_type: Mish
residual_style: True
horizon_steps: ${horizon_steps}
cond_steps: ${cond_steps}
device: ${device}
cfg/furniture/finetune/round_table_low/ft_ppo_diffusion_mlp.yaml
+1 -3
View File
@@ -107,15 +107,13 @@ model:
transition_dim: ${transition_dim}
critic:
_target_: model.common.critic.CriticObs
obs_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
mlp_dims: [512, 512, 512]
activation_type: Mish
residual_style: True
ft_denoising_steps: ${ft_denoising_steps}
transition_dim: ${transition_dim}
horizon_steps: ${horizon_steps}
obs_dim: ${obs_dim}
action_dim: ${action_dim}
cond_steps: ${cond_steps}
denoising_steps: ${denoising_steps}
device: ${device}
cfg/furniture/finetune/round_table_low/ft_ppo_diffusion_unet.yaml
+1 -3
View File
@@ -109,15 +109,13 @@ model:
transition_dim: ${transition_dim}
critic:
_target_: model.common.critic.CriticObs
obs_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
mlp_dims: [512, 512, 512]
activation_type: Mish
residual_style: True
ft_denoising_steps: ${ft_denoising_steps}
transition_dim: ${transition_dim}
horizon_steps: ${horizon_steps}
obs_dim: ${obs_dim}
action_dim: ${action_dim}
cond_steps: ${cond_steps}
denoising_steps: ${denoising_steps}
device: ${device}
cfg/furniture/finetune/round_table_low/ft_ppo_gaussian_mlp.yaml
+1 -2
View File
@@ -100,10 +100,9 @@ model:
transition_dim: ${transition_dim}
critic:
_target_: model.common.critic.CriticObs
obs_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
mlp_dims: [512, 512, 512]
activation_type: Mish
residual_style: True
horizon_steps: ${horizon_steps}
cond_steps: ${cond_steps}
device: ${device}
cfg/furniture/finetune/round_table_med/ft_ppo_diffusion_mlp.yaml
+1 -3
View File
@@ -107,15 +107,13 @@ model:
transition_dim: ${transition_dim}
critic:
_target_: model.common.critic.CriticObs
obs_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
mlp_dims: [512, 512, 512]
activation_type: Mish
residual_style: True
ft_denoising_steps: ${ft_denoising_steps}
transition_dim: ${transition_dim}
horizon_steps: ${horizon_steps}
obs_dim: ${obs_dim}
action_dim: ${action_dim}
cond_steps: ${cond_steps}
denoising_steps: ${denoising_steps}
device: ${device}
cfg/furniture/finetune/round_table_med/ft_ppo_diffusion_unet.yaml
+1 -3
View File
@@ -108,15 +108,13 @@ model:
transition_dim: ${transition_dim}
critic:
_target_: model.common.critic.CriticObs
obs_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
mlp_dims: [512, 512, 512]
activation_type: Mish
residual_style: True
ft_denoising_steps: ${ft_denoising_steps}
transition_dim: ${transition_dim}
horizon_steps: ${horizon_steps}
obs_dim: ${obs_dim}
action_dim: ${action_dim}
cond_steps: ${cond_steps}
denoising_steps: ${denoising_steps}
device: ${device}
cfg/furniture/finetune/round_table_med/ft_ppo_gaussian_mlp.yaml
+2 -3
View File
@@ -95,15 +95,14 @@ model:
learn_fixed_std: True
std_min: 0.01
std_max: 0.2
cond_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
horizon_steps: ${horizon_steps}
transition_dim: ${transition_dim}
critic:
_target_: model.common.critic.CriticObs
obs_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
mlp_dims: [512, 512, 512]
activation_type: Mish
residual_style: True
horizon_steps: ${horizon_steps}
cond_steps: ${cond_steps}
device: ${device}
cfg/furniture/pretrain/lamp_low/pre_diffusion_mlp.yaml
-2
View File
@@ -56,9 +56,7 @@ model:
horizon_steps: ${horizon_steps}
obs_dim: ${obs_dim}
action_dim: ${action_dim}
transition_dim: ${transition_dim}
denoising_steps: ${denoising_steps}
cond_steps: ${cond_steps}
device: ${device}
ema:
cfg/furniture/pretrain/lamp_low/pre_diffusion_unet.yaml
-2
View File
@@ -58,9 +58,7 @@ model:
horizon_steps: ${horizon_steps}
obs_dim: ${obs_dim}
action_dim: ${action_dim}
transition_dim: ${transition_dim}
denoising_steps: ${denoising_steps}
cond_steps: ${cond_steps}
device: ${device}
ema:
cfg/furniture/pretrain/lamp_med/pre_diffusion_mlp.yaml
-2
View File
@@ -56,9 +56,7 @@ model:
horizon_steps: ${horizon_steps}
obs_dim: ${obs_dim}
action_dim: ${action_dim}
transition_dim: ${transition_dim}
denoising_steps: ${denoising_steps}
cond_steps: ${cond_steps}
device: ${device}
ema:
cfg/furniture/pretrain/lamp_med/pre_diffusion_unet.yaml
-2
View File
@@ -57,9 +57,7 @@ model:
horizon_steps: ${horizon_steps}
obs_dim: ${obs_dim}
action_dim: ${action_dim}
transition_dim: ${transition_dim}
denoising_steps: ${denoising_steps}
cond_steps: ${cond_steps}
device: ${device}
ema:
cfg/furniture/pretrain/one_leg_low/pre_diffusion_mlp.yaml
-2
View File
@@ -56,9 +56,7 @@ model:
horizon_steps: ${horizon_steps}
obs_dim: ${obs_dim}
action_dim: ${action_dim}
transition_dim: ${transition_dim}
denoising_steps: ${denoising_steps}
cond_steps: ${cond_steps}
device: ${device}
ema:
cfg/furniture/pretrain/one_leg_low/pre_diffusion_unet.yaml
-2
View File
@@ -58,9 +58,7 @@ model:
horizon_steps: ${horizon_steps}
obs_dim: ${obs_dim}
action_dim: ${action_dim}
transition_dim: ${transition_dim}
denoising_steps: ${denoising_steps}
cond_steps: ${cond_steps}
device: ${device}
ema:
cfg/furniture/pretrain/one_leg_med/pre_diffusion_mlp.yaml
-2
View File
@@ -56,9 +56,7 @@ model:
horizon_steps: ${horizon_steps}
obs_dim: ${obs_dim}
action_dim: ${action_dim}
transition_dim: ${transition_dim}
denoising_steps: ${denoising_steps}
cond_steps: ${cond_steps}
device: ${device}
ema:
cfg/furniture/pretrain/one_leg_med/pre_diffusion_unet.yaml
-2
View File
@@ -57,9 +57,7 @@ model:
horizon_steps: ${horizon_steps}
obs_dim: ${obs_dim}
action_dim: ${action_dim}
transition_dim: ${transition_dim}
denoising_steps: ${denoising_steps}
cond_steps: ${cond_steps}
device: ${device}
ema:
cfg/furniture/pretrain/round_table_low/pre_diffusion_mlp.yaml
-2
View File
@@ -56,9 +56,7 @@ model:
horizon_steps: ${horizon_steps}
obs_dim: ${obs_dim}
action_dim: ${action_dim}
transition_dim: ${transition_dim}
denoising_steps: ${denoising_steps}
cond_steps: ${cond_steps}
device: ${device}
ema:
cfg/furniture/pretrain/round_table_low/pre_diffusion_unet.yaml
-2
View File
@@ -57,9 +57,7 @@ model:
horizon_steps: ${horizon_steps}
obs_dim: ${obs_dim}
action_dim: ${action_dim}
transition_dim: ${transition_dim}
denoising_steps: ${denoising_steps}
cond_steps: ${cond_steps}
device: ${device}
ema:
cfg/furniture/pretrain/round_table_med/pre_diffusion_mlp.yaml
-2
View File
@@ -56,9 +56,7 @@ model:
horizon_steps: ${horizon_steps}
obs_dim: ${obs_dim}
action_dim: ${action_dim}
transition_dim: ${transition_dim}
denoising_steps: ${denoising_steps}
cond_steps: ${cond_steps}
device: ${device}
ema:
cfg/furniture/pretrain/round_table_med/pre_diffusion_unet.yaml
-2
View File
@@ -57,9 +57,7 @@ model:
horizon_steps: ${horizon_steps}
obs_dim: ${obs_dim}
action_dim: ${action_dim}
transition_dim: ${transition_dim}
denoising_steps: ${denoising_steps}
cond_steps: ${cond_steps}
device: ${device}
ema:
cfg/gym/finetune/halfcheetah-v2/ft_awr_diffusion_mlp.yaml
+2 -3
View File
@@ -83,20 +83,19 @@ model:
_target_: model.diffusion.mlp_diffusion.DiffusionMLP
horizon_steps: ${horizon_steps}
transition_dim: ${transition_dim}
cond_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
time_dim: 16
mlp_dims: [512, 512, 512]
activation_type: ReLU
residual_style: True
critic:
_target_: model.common.critic.CriticObs
obs_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
mlp_dims: [256, 256, 256]
activation_type: Mish
residual_style: True
horizon_steps: ${horizon_steps}
obs_dim: ${obs_dim}
action_dim: ${action_dim}
transition_dim: ${transition_dim}
denoising_steps: ${denoising_steps}
device: ${device}
cfg/gym/finetune/halfcheetah-v2/ft_dipo_diffusion_mlp.yaml
+2 -3
View File
@@ -82,7 +82,7 @@ model:
_target_: model.diffusion.mlp_diffusion.DiffusionMLP
horizon_steps: ${horizon_steps}
transition_dim: ${transition_dim}
cond_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
time_dim: 16
mlp_dims: [512, 512, 512]
activation_type: ReLU
@@ -91,13 +91,12 @@ model:
_target_: model.common.critic.CriticObsAct
action_dim: ${action_dim}
action_steps: ${act_steps}
obs_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
mlp_dims: [256, 256, 256]
activation_type: Mish
residual_style: True
horizon_steps: ${horizon_steps}
obs_dim: ${obs_dim}
action_dim: ${action_dim}
transition_dim: ${transition_dim}
denoising_steps: ${denoising_steps}
device: ${device}
cfg/gym/finetune/halfcheetah-v2/ft_dql_diffusion_mlp.yaml
+2 -3
View File
@@ -81,7 +81,7 @@ model:
_target_: model.diffusion.mlp_diffusion.DiffusionMLP
horizon_steps: ${horizon_steps}
transition_dim: ${transition_dim}
cond_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
time_dim: 16
mlp_dims: [512, 512, 512]
activation_type: ReLU
@@ -90,13 +90,12 @@ model:
_target_: model.common.critic.CriticObsAct
action_dim: ${action_dim}
action_steps: ${act_steps}
obs_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
mlp_dims: [256, 256, 256]
activation_type: Mish
residual_style: True
horizon_steps: ${horizon_steps}
obs_dim: ${obs_dim}
action_dim: ${action_dim}
transition_dim: ${transition_dim}
denoising_steps: ${denoising_steps}
device: ${device}
cfg/gym/finetune/halfcheetah-v2/ft_idql_diffusion_mlp.yaml
+3 -4
View File
@@ -84,7 +84,7 @@ model:
_target_: model.diffusion.mlp_diffusion.DiffusionMLP
horizon_steps: ${horizon_steps}
transition_dim: ${transition_dim}
cond_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
time_dim: 16
mlp_dims: [512, 512, 512]
activation_type: ReLU
@@ -93,19 +93,18 @@ model:
_target_: model.common.critic.CriticObsAct
action_dim: ${action_dim}
action_steps: ${act_steps}
obs_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
mlp_dims: [256, 256, 256]
activation_type: Mish
residual_style: True
critic_v:
_target_: model.common.critic.CriticObs
obs_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
mlp_dims: [256, 256, 256]
activation_type: Mish
residual_style: True
horizon_steps: ${horizon_steps}
obs_dim: ${obs_dim}
action_dim: ${action_dim}
transition_dim: ${transition_dim}
denoising_steps: ${denoising_steps}
device: ${device}
cfg/gym/finetune/halfcheetah-v2/ft_ppo_diffusion_mlp.yaml
+2 -4
View File
@@ -91,20 +91,18 @@ model:
mlp_dims: [512, 512, 512]
activation_type: ReLU
residual_style: True
cond_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
horizon_steps: ${horizon_steps}
transition_dim: ${transition_dim}
critic:
_target_: model.common.critic.CriticObs
obs_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
mlp_dims: [256, 256, 256]
activation_type: Mish
residual_style: True
ft_denoising_steps: ${ft_denoising_steps}
transition_dim: ${transition_dim}
horizon_steps: ${horizon_steps}
obs_dim: ${obs_dim}
action_dim: ${action_dim}
cond_steps: ${cond_steps}
denoising_steps: ${denoising_steps}
device: ${device}
cfg/gym/finetune/halfcheetah-v2/ft_ppo_exact_diffusion_mlp.yaml
+2 -4
View File
@@ -99,20 +99,18 @@ model:
mlp_dims: [512, 512, 512]
activation_type: ReLU
residual_style: True
cond_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
horizon_steps: ${horizon_steps}
transition_dim: ${transition_dim}
critic:
_target_: model.common.critic.CriticObs
obs_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
mlp_dims: [256, 256, 256]
activation_type: Mish
residual_style: True
ft_denoising_steps: ${ft_denoising_steps}
transition_dim: ${transition_dim}
horizon_steps: ${horizon_steps}
obs_dim: ${obs_dim}
action_dim: ${action_dim}
cond_steps: ${cond_steps}
denoising_steps: ${denoising_steps}
device: ${device}
cfg/gym/finetune/halfcheetah-v2/ft_qsm_diffusion_mlp.yaml
+2 -3
View File
@@ -82,7 +82,7 @@ model:
_target_: model.diffusion.mlp_diffusion.DiffusionMLP
horizon_steps: ${horizon_steps}
transition_dim: ${transition_dim}
cond_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
time_dim: 16
mlp_dims: [512, 512, 512]
activation_type: ReLU
@@ -91,13 +91,12 @@ model:
_target_: model.common.critic.CriticObsAct
action_dim: ${action_dim}
action_steps: ${act_steps}
obs_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
mlp_dims: [256, 256, 256]
activation_type: Mish
residual_style: True
horizon_steps: ${horizon_steps}
obs_dim: ${obs_dim}
action_dim: ${action_dim}
transition_dim: ${transition_dim}
denoising_steps: ${denoising_steps}
device: ${device}
cfg/gym/finetune/halfcheetah-v2/ft_rwr_diffusion_mlp.yaml
+1 -2
View File
@@ -74,7 +74,7 @@ model:
_target_: model.diffusion.mlp_diffusion.DiffusionMLP
horizon_steps: ${horizon_steps}
transition_dim: ${transition_dim}
cond_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
time_dim: 16
mlp_dims: [512, 512, 512]
activation_type: ReLU
@@ -82,6 +82,5 @@ model:
horizon_steps: ${horizon_steps}
obs_dim: ${obs_dim}
action_dim: ${action_dim}
transition_dim: ${transition_dim}
denoising_steps: ${denoising_steps}
device: ${device}
cfg/gym/finetune/halfcheetah-v2/ppo_diffusion_mlp.yaml
+2 -4
View File
@@ -87,22 +87,20 @@ model:
_target_: model.diffusion.mlp_diffusion.DiffusionMLP
horizon_steps: ${horizon_steps}
transition_dim: ${transition_dim}
cond_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
time_dim: 16
mlp_dims: [512, 512, 512]
activation_type: ReLU
residual_style: True
critic:
_target_: model.common.critic.CriticObs
obs_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
mlp_dims: [256, 256, 256]
activation_type: Mish
residual_style: True
ft_denoising_steps: ${ft_denoising_steps}
transition_dim: ${transition_dim}
horizon_steps: ${horizon_steps}
obs_dim: ${obs_dim}
action_dim: ${action_dim}
cond_steps: ${cond_steps}
denoising_steps: ${denoising_steps}
device: ${device}
cfg/gym/finetune/halfcheetah-v2/ppo_gaussian_mlp.yaml
+2 -3
View File
@@ -80,15 +80,14 @@ model:
mlp_dims: [512, 512, 512]
activation_type: ReLU
residual_style: True
cond_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
horizon_steps: ${horizon_steps}
transition_dim: ${transition_dim}
critic:
_target_: model.common.critic.CriticObs
obs_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
mlp_dims: [256, 256, 256]
activation_type: Mish
residual_style: True
horizon_steps: ${horizon_steps}
cond_steps: ${cond_steps}
device: ${device}
cfg/gym/finetune/hopper-v2/ft_awr_diffusion_mlp.yaml
+2 -3
View File
@@ -83,20 +83,19 @@ model:
_target_: model.diffusion.mlp_diffusion.DiffusionMLP
horizon_steps: ${horizon_steps}
transition_dim: ${transition_dim}
cond_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
time_dim: 16
mlp_dims: [512, 512, 512]
activation_type: ReLU
residual_style: True
critic:
_target_: model.common.critic.CriticObs
obs_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
mlp_dims: [256, 256, 256]
activation_type: Mish
residual_style: True
horizon_steps: ${horizon_steps}
obs_dim: ${obs_dim}
action_dim: ${action_dim}
transition_dim: ${transition_dim}
denoising_steps: ${denoising_steps}
device: ${device}
cfg/gym/finetune/hopper-v2/ft_dipo_diffusion_mlp.yaml
+2 -3
View File
@@ -82,7 +82,7 @@ model:
_target_: model.diffusion.mlp_diffusion.DiffusionMLP
horizon_steps: ${horizon_steps}
transition_dim: ${transition_dim}
cond_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
time_dim: 16
mlp_dims: [512, 512, 512]
activation_type: ReLU
@@ -91,13 +91,12 @@ model:
_target_: model.common.critic.CriticObsAct
action_dim: ${action_dim}
action_steps: ${act_steps}
obs_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
mlp_dims: [256, 256, 256]
activation_type: Mish
residual_style: True
horizon_steps: ${horizon_steps}
obs_dim: ${obs_dim}
action_dim: ${action_dim}
transition_dim: ${transition_dim}
denoising_steps: ${denoising_steps}
device: ${device}
cfg/gym/finetune/hopper-v2/ft_dql_diffusion_mlp.yaml
+2 -3
View File
@@ -81,7 +81,7 @@ model:
_target_: model.diffusion.mlp_diffusion.DiffusionMLP
horizon_steps: ${horizon_steps}
transition_dim: ${transition_dim}
cond_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
time_dim: 16
mlp_dims: [512, 512, 512]
activation_type: ReLU
@@ -90,13 +90,12 @@ model:
_target_: model.common.critic.CriticObsAct
action_dim: ${action_dim}
action_steps: ${act_steps}
obs_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
mlp_dims: [256, 256, 256]
activation_type: Mish
residual_style: True
horizon_steps: ${horizon_steps}
obs_dim: ${obs_dim}
action_dim: ${action_dim}
transition_dim: ${transition_dim}
denoising_steps: ${denoising_steps}
device: ${device}
cfg/gym/finetune/hopper-v2/ft_idql_diffusion_mlp.yaml
+3 -4
View File
@@ -84,7 +84,7 @@ model:
_target_: model.diffusion.mlp_diffusion.DiffusionMLP
horizon_steps: ${horizon_steps}
transition_dim: ${transition_dim}
cond_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
time_dim: 16
mlp_dims: [512, 512, 512]
activation_type: ReLU
@@ -93,19 +93,18 @@ model:
_target_: model.common.critic.CriticObsAct
action_dim: ${action_dim}
action_steps: ${act_steps}
obs_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
mlp_dims: [256, 256, 256]
activation_type: Mish
residual_style: True
critic_v:
_target_: model.common.critic.CriticObs
obs_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
mlp_dims: [256, 256, 256]
activation_type: Mish
residual_style: True
horizon_steps: ${horizon_steps}
obs_dim: ${obs_dim}
action_dim: ${action_dim}
transition_dim: ${transition_dim}
denoising_steps: ${denoising_steps}
device: ${device}
cfg/gym/finetune/hopper-v2/ft_ppo_diffusion_mlp.yaml
+2 -4
View File
@@ -91,20 +91,18 @@ model:
mlp_dims: [512, 512, 512]
activation_type: ReLU
residual_style: True
cond_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
horizon_steps: ${horizon_steps}
transition_dim: ${transition_dim}
critic:
_target_: model.common.critic.CriticObs
obs_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
mlp_dims: [256, 256, 256]
activation_type: Mish
residual_style: True
ft_denoising_steps: ${ft_denoising_steps}
transition_dim: ${transition_dim}
horizon_steps: ${horizon_steps}
obs_dim: ${obs_dim}
action_dim: ${action_dim}
cond_steps: ${cond_steps}
denoising_steps: ${denoising_steps}
device: ${device}
cfg/gym/finetune/hopper-v2/ft_ppo_exact_diffusion_mlp.yaml
+2 -4
View File
@@ -98,20 +98,18 @@ model:
time_dim: 16
mlp_dims: [512, 512, 512]
residual_style: True
cond_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
horizon_steps: ${horizon_steps}
transition_dim: ${transition_dim}
critic:
_target_: model.common.critic.CriticObs
obs_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
mlp_dims: [256, 256, 256]
activation_type: Mish
residual_style: True
ft_denoising_steps: ${ft_denoising_steps}
transition_dim: ${transition_dim}
horizon_steps: ${horizon_steps}
obs_dim: ${obs_dim}
action_dim: ${action_dim}
cond_steps: ${cond_steps}
denoising_steps: ${denoising_steps}
device: ${device}
cfg/gym/finetune/hopper-v2/ft_qsm_diffusion_mlp.yaml
+2 -3
View File
@@ -82,7 +82,7 @@ model:
_target_: model.diffusion.mlp_diffusion.DiffusionMLP
horizon_steps: ${horizon_steps}
transition_dim: ${transition_dim}
cond_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
time_dim: 16
mlp_dims: [512, 512, 512]
activation_type: ReLU
@@ -91,13 +91,12 @@ model:
_target_: model.common.critic.CriticObsAct
action_dim: ${action_dim}
action_steps: ${act_steps}
obs_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
mlp_dims: [256, 256, 256]
activation_type: Mish
residual_style: True
horizon_steps: ${horizon_steps}
obs_dim: ${obs_dim}
action_dim: ${action_dim}
transition_dim: ${transition_dim}
denoising_steps: ${denoising_steps}
device: ${device}
cfg/gym/finetune/hopper-v2/ft_rwr_diffusion_mlp.yaml
+1 -2
View File
@@ -74,7 +74,7 @@ model:
_target_: model.diffusion.mlp_diffusion.DiffusionMLP
horizon_steps: ${horizon_steps}
transition_dim: ${transition_dim}
cond_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
time_dim: 16
mlp_dims: [512, 512, 512]
activation_type: ReLU
@@ -82,6 +82,5 @@ model:
horizon_steps: ${horizon_steps}
obs_dim: ${obs_dim}
action_dim: ${action_dim}
transition_dim: ${transition_dim}
denoising_steps: ${denoising_steps}
device: ${device}
cfg/gym/finetune/hopper-v2/ppo_diffusion_mlp.yaml
+2 -4
View File
@@ -87,22 +87,20 @@ model:
_target_: model.diffusion.mlp_diffusion.DiffusionMLP
horizon_steps: ${horizon_steps}
transition_dim: ${transition_dim}
cond_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
time_dim: 16
mlp_dims: [512, 512, 512]
activation_type: ReLU
residual_style: True
critic:
_target_: model.common.critic.CriticObs
obs_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
mlp_dims: [256, 256, 256]
activation_type: Mish
residual_style: True
ft_denoising_steps: ${ft_denoising_steps}
transition_dim: ${transition_dim}
horizon_steps: ${horizon_steps}
obs_dim: ${obs_dim}
action_dim: ${action_dim}
cond_steps: ${cond_steps}
denoising_steps: ${denoising_steps}
device: ${device}
cfg/gym/finetune/hopper-v2/ppo_gaussian_mlp.yaml
+2 -3
View File
@@ -80,15 +80,14 @@ model:
mlp_dims: [512, 512, 512]
activation_type: ReLU
residual_style: True
cond_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
horizon_steps: ${horizon_steps}
transition_dim: ${transition_dim}
critic:
_target_: model.common.critic.CriticObs
obs_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
mlp_dims: [256, 256, 256]
activation_type: Mish
residual_style: True
horizon_steps: ${horizon_steps}
cond_steps: ${cond_steps}
device: ${device}
cfg/gym/finetune/walker2d-v2/ft_awr_diffusion_mlp.yaml
+2 -3
View File
@@ -83,20 +83,19 @@ model:
_target_: model.diffusion.mlp_diffusion.DiffusionMLP
horizon_steps: ${horizon_steps}
transition_dim: ${transition_dim}
cond_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
time_dim: 16
mlp_dims: [512, 512, 512]
activation_type: ReLU
residual_style: True
critic:
_target_: model.common.critic.CriticObs
obs_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
mlp_dims: [256, 256, 256]
activation_type: Mish
residual_style: True
horizon_steps: ${horizon_steps}
obs_dim: ${obs_dim}
action_dim: ${action_dim}
transition_dim: ${transition_dim}
denoising_steps: ${denoising_steps}
device: ${device}
cfg/gym/finetune/walker2d-v2/ft_dipo_diffusion_mlp.yaml
+2 -3
View File
@@ -82,7 +82,7 @@ model:
_target_: model.diffusion.mlp_diffusion.DiffusionMLP
horizon_steps: ${horizon_steps}
transition_dim: ${transition_dim}
cond_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
time_dim: 16
mlp_dims: [512, 512, 512]
activation_type: ReLU
@@ -91,13 +91,12 @@ model:
_target_: model.common.critic.CriticObsAct
action_dim: ${action_dim}
action_steps: ${act_steps}
obs_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
mlp_dims: [256, 256, 256]
activation_type: Mish
residual_style: True
horizon_steps: ${horizon_steps}
obs_dim: ${obs_dim}
action_dim: ${action_dim}
transition_dim: ${transition_dim}
denoising_steps: ${denoising_steps}
device: ${device}
cfg/gym/finetune/walker2d-v2/ft_dql_diffusion_mlp.yaml
+2 -3
View File
@@ -81,7 +81,7 @@ model:
_target_: model.diffusion.mlp_diffusion.DiffusionMLP
horizon_steps: ${horizon_steps}
transition_dim: ${transition_dim}
cond_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
time_dim: 16
mlp_dims: [512, 512, 512]
activation_type: ReLU
@@ -90,13 +90,12 @@ model:
_target_: model.common.critic.CriticObsAct
action_dim: ${action_dim}
action_steps: ${act_steps}
obs_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
mlp_dims: [256, 256, 256]
activation_type: Mish
residual_style: True
horizon_steps: ${horizon_steps}
obs_dim: ${obs_dim}
action_dim: ${action_dim}
transition_dim: ${transition_dim}
denoising_steps: ${denoising_steps}
device: ${device}
cfg/gym/finetune/walker2d-v2/ft_idql_diffusion_mlp.yaml
+3 -4
View File
@@ -84,7 +84,7 @@ model:
_target_: model.diffusion.mlp_diffusion.DiffusionMLP
horizon_steps: ${horizon_steps}
transition_dim: ${transition_dim}
cond_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
time_dim: 16
mlp_dims: [512, 512, 512]
activation_type: ReLU
@@ -93,19 +93,18 @@ model:
_target_: model.common.critic.CriticObsAct
action_dim: ${action_dim}
action_steps: ${act_steps}
obs_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
mlp_dims: [256, 256, 256]
activation_type: Mish
residual_style: True
critic_v:
_target_: model.common.critic.CriticObs
obs_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
mlp_dims: [256, 256, 256]
activation_type: Mish
residual_style: True
horizon_steps: ${horizon_steps}
obs_dim: ${obs_dim}
action_dim: ${action_dim}
transition_dim: ${transition_dim}
denoising_steps: ${denoising_steps}
device: ${device}
cfg/gym/finetune/walker2d-v2/ft_ppo_diffusion_mlp.yaml
+2 -4
View File
@@ -91,20 +91,18 @@ model:
mlp_dims: [512, 512, 512]
activation_type: ReLU
residual_style: True
cond_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
horizon_steps: ${horizon_steps}
transition_dim: ${transition_dim}
critic:
_target_: model.common.critic.CriticObs
obs_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
mlp_dims: [256, 256, 256]
activation_type: Mish
residual_style: True
ft_denoising_steps: ${ft_denoising_steps}
transition_dim: ${transition_dim}
horizon_steps: ${horizon_steps}
obs_dim: ${obs_dim}
action_dim: ${action_dim}
cond_steps: ${cond_steps}
denoising_steps: ${denoising_steps}
device: ${device}
cfg/gym/finetune/walker2d-v2/ft_qsm_diffusion_mlp.yaml
+2 -3
View File
@@ -82,7 +82,7 @@ model:
_target_: model.diffusion.mlp_diffusion.DiffusionMLP
horizon_steps: ${horizon_steps}
transition_dim: ${transition_dim}
cond_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
time_dim: 16
mlp_dims: [512, 512, 512]
activation_type: ReLU
@@ -91,13 +91,12 @@ model:
_target_: model.common.critic.CriticObsAct
action_dim: ${action_dim}
action_steps: ${act_steps}
obs_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
mlp_dims: [256, 256, 256]
activation_type: Mish
residual_style: True
horizon_steps: ${horizon_steps}
obs_dim: ${obs_dim}
action_dim: ${action_dim}
transition_dim: ${transition_dim}
denoising_steps: ${denoising_steps}
device: ${device}
cfg/gym/finetune/walker2d-v2/ft_rwr_diffusion_mlp.yaml
+1 -2
View File
@@ -74,7 +74,7 @@ model:
_target_: model.diffusion.mlp_diffusion.DiffusionMLP
horizon_steps: ${horizon_steps}
transition_dim: ${transition_dim}
cond_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
time_dim: 16
mlp_dims: [512, 512, 512]
activation_type: ReLU
@@ -82,6 +82,5 @@ model:
horizon_steps: ${horizon_steps}
obs_dim: ${obs_dim}
action_dim: ${action_dim}
transition_dim: ${transition_dim}
denoising_steps: ${denoising_steps}
device: ${device}
cfg/gym/finetune/walker2d-v2/ppo_diffusion_mlp.yaml
+2 -4
View File
@@ -87,22 +87,20 @@ model:
_target_: model.diffusion.mlp_diffusion.DiffusionMLP
horizon_steps: ${horizon_steps}
transition_dim: ${transition_dim}
cond_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
time_dim: 16
mlp_dims: [512, 512, 512]
activation_type: ReLU
residual_style: True
critic:
_target_: model.common.critic.CriticObs
obs_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
mlp_dims: [256, 256, 256]
activation_type: Mish
residual_style: True
ft_denoising_steps: ${ft_denoising_steps}
transition_dim: ${transition_dim}
horizon_steps: ${horizon_steps}
obs_dim: ${obs_dim}
action_dim: ${action_dim}
cond_steps: ${cond_steps}
denoising_steps: ${denoising_steps}
device: ${device}
cfg/gym/finetune/walker2d-v2/ppo_gaussian_mlp.yaml
+2 -3
View File
@@ -80,15 +80,14 @@ model:
mlp_dims: [512, 512, 512]
activation_type: ReLU
residual_style: True
cond_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
horizon_steps: ${horizon_steps}
transition_dim: ${transition_dim}
critic:
_target_: model.common.critic.CriticObs
obs_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
mlp_dims: [256, 256, 256]
activation_type: Mish
residual_style: True
horizon_steps: ${horizon_steps}
cond_steps: ${cond_steps}
device: ${device}
cfg/gym/pretrain/halfcheetah-medium-v2/pre_diffusion_mlp.yaml
+1 -3
View File
@@ -45,7 +45,7 @@ model:
_target_: model.diffusion.mlp_diffusion.DiffusionMLP
horizon_steps: ${horizon_steps}
transition_dim: ${transition_dim}
cond_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
time_dim: 16
mlp_dims: [512, 512, 512]
activation_type: ReLU
@@ -55,9 +55,7 @@ model:
horizon_steps: ${horizon_steps}
obs_dim: ${obs_dim}
action_dim: ${action_dim}
transition_dim: ${transition_dim}
denoising_steps: ${denoising_steps}
cond_steps: ${cond_steps}
device: ${device}
ema:
cfg/gym/pretrain/hopper-medium-v2/pre_diffusion_mlp.yaml
+1 -3
View File
@@ -45,7 +45,7 @@ model:
_target_: model.diffusion.mlp_diffusion.DiffusionMLP
horizon_steps: ${horizon_steps}
transition_dim: ${transition_dim}
cond_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
time_dim: 16
mlp_dims: [512, 512, 512]
activation_type: ReLU
@@ -55,9 +55,7 @@ model:
horizon_steps: ${horizon_steps}
obs_dim: ${obs_dim}
action_dim: ${action_dim}
transition_dim: ${transition_dim}
denoising_steps: ${denoising_steps}
cond_steps: ${cond_steps}
device: ${device}
ema:
cfg/gym/pretrain/walker2d-medium-v2/pre_diffusion_mlp.yaml
+1 -3
View File
@@ -45,7 +45,7 @@ model:
_target_: model.diffusion.mlp_diffusion.DiffusionMLP
horizon_steps: ${horizon_steps}
transition_dim: ${transition_dim}
cond_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
time_dim: 16
mlp_dims: [512, 512, 512]
activation_type: ReLU
@@ -55,9 +55,7 @@ model:
horizon_steps: ${horizon_steps}
obs_dim: ${obs_dim}
action_dim: ${action_dim}
transition_dim: ${transition_dim}
denoising_steps: ${denoising_steps}
cond_steps: ${cond_steps}
device: ${device}
ema:
cfg/robomimic/finetune/can/ft_awr_diffusion_mlp.yaml
+1 -2
View File
@@ -94,13 +94,12 @@ model:
transition_dim: ${transition_dim}
critic:
_target_: model.common.critic.CriticObs
obs_dim: ${obs_dim}
mlp_dims: [256, 256, 256]
activation_type: Mish
residual_style: True
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
horizon_steps: ${horizon_steps}
obs_dim: ${obs_dim}
action_dim: ${action_dim}
transition_dim: ${transition_dim}
denoising_steps: ${denoising_steps}
device: ${device}
cfg/robomimic/finetune/can/ft_dipo_diffusion_mlp.yaml
+1 -2
View File
@@ -95,13 +95,12 @@ model:
_target_: model.common.critic.CriticObsAct
action_dim: ${action_dim}
action_steps: ${act_steps}
obs_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
mlp_dims: [256, 256, 256]
activation_type: Mish
residual_style: True
horizon_steps: ${horizon_steps}
obs_dim: ${obs_dim}
action_dim: ${action_dim}
transition_dim: ${transition_dim}
denoising_steps: ${denoising_steps}
device: ${device}
cfg/robomimic/finetune/can/ft_dql_diffusion_mlp.yaml
+1 -2
View File
@@ -94,13 +94,12 @@ model:
_target_: model.common.critic.CriticObsAct
action_dim: ${action_dim}
action_steps: ${act_steps}
obs_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
mlp_dims: [256, 256, 256]
activation_type: Mish
residual_style: True
horizon_steps: ${horizon_steps}
obs_dim: ${obs_dim}
action_dim: ${action_dim}
transition_dim: ${transition_dim}
denoising_steps: ${denoising_steps}
device: ${device}
cfg/robomimic/finetune/can/ft_idql_diffusion_mlp.yaml
+2 -3
View File
@@ -97,19 +97,18 @@ model:
_target_: model.common.critic.CriticObsAct
action_dim: ${action_dim}
action_steps: ${act_steps}
obs_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
mlp_dims: [256, 256, 256]
activation_type: Mish
residual_style: True
critic_v:
_target_: model.common.critic.CriticObs
obs_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
mlp_dims: [256, 256, 256]
activation_type: Mish
residual_style: True
horizon_steps: ${horizon_steps}
obs_dim: ${obs_dim}
action_dim: ${action_dim}
transition_dim: ${transition_dim}
denoising_steps: ${denoising_steps}
device: ${device}
cfg/robomimic/finetune/can/ft_ppo_diffusion_mlp.yaml
+1 -3
View File
@@ -100,15 +100,13 @@ model:
transition_dim: ${transition_dim}
critic:
_target_: model.common.critic.CriticObs
obs_dim: ${obs_dim}
mlp_dims: [256, 256, 256]
activation_type: Mish
residual_style: True
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
ft_denoising_steps: ${ft_denoising_steps}
transition_dim: ${transition_dim}
horizon_steps: ${horizon_steps}
obs_dim: ${obs_dim}
action_dim: ${action_dim}
cond_steps: ${cond_steps}
denoising_steps: ${denoising_steps}
device: ${device}
cfg/robomimic/finetune/can/ft_ppo_diffusion_mlp_img.yaml
+6 -3
View File
@@ -20,6 +20,7 @@ transition_dim: ${action_dim}
denoising_steps: 100
ft_denoising_steps: 5
cond_steps: 1
img_cond_steps: 1
horizon_steps: 4
act_steps: 4
use_ddim: True
@@ -121,6 +122,7 @@ model:
backbone:
_target_: model.common.vit.VitEncoder
obs_shape: ${shape_meta.obs.rgb.shape}
num_channel: ${eval:'${shape_meta.obs.rgb.shape[0]} * ${img_cond_steps}'} # each image patch is history concatenated
cfg:
patch_size: 8
depth: 1
@@ -133,6 +135,7 @@ model:
time_dim: 32
mlp_dims: [512, 512, 512]
residual_style: True
img_cond_steps: ${img_cond_steps}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
horizon_steps: ${horizon_steps}
transition_dim: ${transition_dim}
@@ -143,6 +146,7 @@ model:
backbone:
_target_: model.common.vit.VitEncoder
obs_shape: ${shape_meta.obs.rgb.shape}
num_channel: ${eval:'${shape_meta.obs.rgb.shape[0]} * ${img_cond_steps}'} # each image patch is history concatenated
cfg:
patch_size: 8
depth: 1
@@ -150,15 +154,14 @@ model:
num_heads: 4
embed_style: embed2
embed_norm: 0
obs_dim: ${obs_dim}
img_cond_steps: ${img_cond_steps}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
mlp_dims: [256, 256, 256]
activation_type: Mish
residual_style: True
ft_denoising_steps: ${ft_denoising_steps}
transition_dim: ${transition_dim}
horizon_steps: ${horizon_steps}
obs_dim: ${obs_dim}
action_dim: ${action_dim}
cond_steps: ${cond_steps}
denoising_steps: ${denoising_steps}
device: ${device}
cfg/robomimic/finetune/can/ft_ppo_diffusion_unet.yaml
+1 -3
View File
@@ -103,15 +103,13 @@ model:
transition_dim: ${transition_dim}
critic:
_target_: model.common.critic.CriticObs
obs_dim: ${obs_dim}
mlp_dims: [256, 256, 256]
activation_type: Mish
residual_style: True
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
ft_denoising_steps: ${ft_denoising_steps}
transition_dim: ${transition_dim}
horizon_steps: ${horizon_steps}
obs_dim: ${obs_dim}
action_dim: ${action_dim}
cond_steps: ${cond_steps}
denoising_steps: ${denoising_steps}
device: ${device}
cfg/robomimic/finetune/can/ft_ppo_exact_diffusion_mlp.yaml
+1 -3
View File
@@ -108,15 +108,13 @@ model:
transition_dim: ${transition_dim}
critic:
_target_: model.common.critic.CriticObs
obs_dim: ${obs_dim}
mlp_dims: [256, 256, 256]
activation_type: Mish
residual_style: True
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
ft_denoising_steps: ${ft_denoising_steps}
transition_dim: ${transition_dim}
horizon_steps: ${horizon_steps}
obs_dim: ${obs_dim}
action_dim: ${action_dim}
cond_steps: ${cond_steps}
denoising_steps: ${denoising_steps}
device: ${device}
cfg/robomimic/finetune/can/ft_ppo_gaussian_mlp.yaml
+1 -2
View File
@@ -94,10 +94,9 @@ model:
transition_dim: ${transition_dim}
critic:
_target_: model.common.critic.CriticObs
obs_dim: ${obs_dim}
mlp_dims: [256, 256, 256]
activation_type: Mish
residual_style: True
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
horizon_steps: ${horizon_steps}
cond_steps: ${cond_steps}
device: ${device}
cfg/robomimic/finetune/can/ft_ppo_gaussian_mlp_img.yaml
+6 -2
View File
@@ -18,6 +18,7 @@ obs_dim: 9
action_dim: 7
transition_dim: ${action_dim}
cond_steps: 1
img_cond_steps: 1
horizon_steps: 4
act_steps: 4
@@ -100,6 +101,7 @@ model:
backbone:
_target_: model.common.vit.VitEncoder
obs_shape: ${shape_meta.obs.rgb.shape}
num_channel: ${eval:'${shape_meta.obs.rgb.shape[0]} * ${img_cond_steps}'} # each image patch is history concatenated
cfg:
patch_size: 8
depth: 1
@@ -115,6 +117,7 @@ model:
learn_fixed_std: True
std_min: 0.01
std_max: 0.2
img_cond_steps: ${img_cond_steps}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
horizon_steps: ${horizon_steps}
transition_dim: ${transition_dim}
@@ -125,6 +128,7 @@ model:
backbone:
_target_: model.common.vit.VitEncoder
obs_shape: ${shape_meta.obs.rgb.shape}
num_channel: ${eval:'${shape_meta.obs.rgb.shape[0]} * ${img_cond_steps}'} # each image patch is history concatenated
cfg:
patch_size: 8
depth: 1
@@ -132,10 +136,10 @@ model:
num_heads: 4
embed_style: embed2
embed_norm: 0
obs_dim: ${obs_dim}
img_cond_steps: ${img_cond_steps}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
mlp_dims: [256, 256, 256]
activation_type: Mish
residual_style: True
horizon_steps: ${horizon_steps}
cond_steps: ${cond_steps}
device: ${device}
cfg/robomimic/finetune/can/ft_ppo_gaussian_transformer.yaml
+2 -3
View File
@@ -26,7 +26,7 @@ env:
name: ${env_name}
best_reward_threshold_for_success: 1
max_episode_steps: 300
save_video: false
save_video: False
wrappers:
robomimic_lowdim:
normalization_path: ${normalization_path}
@@ -95,10 +95,9 @@ model:
transition_dim: ${transition_dim}
critic:
_target_: model.common.critic.CriticObs
obs_dim: ${obs_dim}
mlp_dims: [256, 256, 256]
activation_type: Mish
residual_style: True
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
horizon_steps: ${horizon_steps}
cond_steps: ${cond_steps}
device: ${device}
cfg/robomimic/finetune/can/ft_ppo_gmm_mlp.yaml
+2 -3
View File
@@ -27,7 +27,7 @@ env:
name: ${env_name}
best_reward_threshold_for_success: 1
max_episode_steps: 300
save_video: false
save_video: False
wrappers:
robomimic_lowdim:
normalization_path: ${normalization_path}
@@ -95,10 +95,9 @@ model:
transition_dim: ${transition_dim}
critic:
_target_: model.common.critic.CriticObs
obs_dim: ${obs_dim}
mlp_dims: [256, 256, 256]
activation_type: Mish
residual_style: True
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
horizon_steps: ${horizon_steps}
cond_steps: ${cond_steps}
device: ${device}
cfg/robomimic/finetune/can/ft_ppo_gmm_transformer.yaml
+2 -3
View File
@@ -27,7 +27,7 @@ env:
name: ${env_name}
best_reward_threshold_for_success: 1
max_episode_steps: 300
save_video: false
save_video: False
wrappers:
robomimic_lowdim:
normalization_path: ${normalization_path}
@@ -96,10 +96,9 @@ model:
transition_dim: ${transition_dim}
critic:
_target_: model.common.critic.CriticObs
obs_dim: ${obs_dim}
mlp_dims: [256, 256, 256]
activation_type: Mish
residual_style: True
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
horizon_steps: ${horizon_steps}
cond_steps: ${cond_steps}
device: ${device}
cfg/robomimic/finetune/can/ft_qsm_diffusion_mlp.yaml
+1 -2
View File
@@ -95,13 +95,12 @@ model:
_target_: model.common.critic.CriticObsAct
action_dim: ${action_dim}
action_steps: ${act_steps}
obs_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
mlp_dims: [256, 256, 256]
activation_type: Mish
residual_style: True
horizon_steps: ${horizon_steps}
obs_dim: ${obs_dim}
action_dim: ${action_dim}
transition_dim: ${transition_dim}
denoising_steps: ${denoising_steps}
device: ${device}
cfg/robomimic/finetune/can/ft_rwr_diffusion_mlp.yaml
-1
View File
@@ -86,6 +86,5 @@ model:
horizon_steps: ${horizon_steps}
obs_dim: ${obs_dim}
action_dim: ${action_dim}
transition_dim: ${transition_dim}
denoising_steps: ${denoising_steps}
device: ${device}
cfg/robomimic/finetune/lift/ft_awr_diffusion_mlp.yaml
+1 -2
View File
@@ -94,13 +94,12 @@ model:
transition_dim: ${transition_dim}
critic:
_target_: model.common.critic.CriticObs
obs_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
mlp_dims: [256, 256, 256]
activation_type: Mish
residual_style: True
horizon_steps: ${horizon_steps}
obs_dim: ${obs_dim}
action_dim: ${action_dim}
transition_dim: ${transition_dim}
denoising_steps: ${denoising_steps}
device: ${device}
cfg/robomimic/finetune/lift/ft_dipo_diffusion_mlp.yaml
+1 -2
View File
@@ -95,13 +95,12 @@ model:
_target_: model.common.critic.CriticObsAct
action_dim: ${action_dim}
action_steps: ${act_steps}
obs_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
mlp_dims: [256, 256, 256]
activation_type: Mish
residual_style: True
horizon_steps: ${horizon_steps}
obs_dim: ${obs_dim}
action_dim: ${action_dim}
transition_dim: ${transition_dim}
denoising_steps: ${denoising_steps}
device: ${device}
cfg/robomimic/finetune/lift/ft_dql_diffusion_mlp.yaml
+1 -2
View File
@@ -94,13 +94,12 @@ model:
_target_: model.common.critic.CriticObsAct
action_dim: ${action_dim}
action_steps: ${act_steps}
obs_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
mlp_dims: [256, 256, 256]
activation_type: Mish
residual_style: True
horizon_steps: ${horizon_steps}
obs_dim: ${obs_dim}
action_dim: ${action_dim}
transition_dim: ${transition_dim}
denoising_steps: ${denoising_steps}
device: ${device}
cfg/robomimic/finetune/lift/ft_idql_diffusion_mlp.yaml
+2 -3
View File
@@ -97,19 +97,18 @@ model:
_target_: model.common.critic.CriticObsAct
action_dim: ${action_dim}
action_steps: ${act_steps}
obs_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
mlp_dims: [256, 256, 256]
activation_type: Mish
residual_style: True
critic_v:
_target_: model.common.critic.CriticObs
obs_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
mlp_dims: [256, 256, 256]
activation_type: Mish
residual_style: True
horizon_steps: ${horizon_steps}
obs_dim: ${obs_dim}
action_dim: ${action_dim}
transition_dim: ${transition_dim}
denoising_steps: ${denoising_steps}
device: ${device}
cfg/robomimic/finetune/lift/ft_ppo_diffusion_mlp.yaml
+1 -3
View File
@@ -100,15 +100,13 @@ model:
transition_dim: ${transition_dim}
critic:
_target_: model.common.critic.CriticObs
obs_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
mlp_dims: [256, 256, 256]
activation_type: Mish
residual_style: True
ft_denoising_steps: ${ft_denoising_steps}
transition_dim: ${transition_dim}
horizon_steps: ${horizon_steps}
obs_dim: ${obs_dim}
action_dim: ${action_dim}
cond_steps: ${cond_steps}
denoising_steps: ${denoising_steps}
device: ${device}
cfg/robomimic/finetune/lift/ft_ppo_diffusion_mlp_img.yaml
+6 -3
View File
@@ -20,6 +20,7 @@ transition_dim: ${action_dim}
denoising_steps: 100
ft_denoising_steps: 5
cond_steps: 1
img_cond_steps: 1
horizon_steps: 4
act_steps: 4
use_ddim: True
@@ -121,6 +122,7 @@ model:
backbone:
_target_: model.common.vit.VitEncoder
obs_shape: ${shape_meta.obs.rgb.shape}
num_channel: ${eval:'${shape_meta.obs.rgb.shape[0]} * ${img_cond_steps}'} # each image patch is history concatenated
cfg:
patch_size: 8
depth: 1
@@ -133,6 +135,7 @@ model:
time_dim: 32
mlp_dims: [512, 512, 512]
residual_style: True
img_cond_steps: ${img_cond_steps}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
horizon_steps: ${horizon_steps}
transition_dim: ${transition_dim}
@@ -143,6 +146,7 @@ model:
backbone:
_target_: model.common.vit.VitEncoder
obs_shape: ${shape_meta.obs.rgb.shape}
num_channel: ${eval:'${shape_meta.obs.rgb.shape[0]} * ${img_cond_steps}'} # each image patch is history concatenated
cfg:
patch_size: 8
depth: 1
@@ -150,15 +154,14 @@ model:
num_heads: 4
embed_style: embed2
embed_norm: 0
obs_dim: ${obs_dim}
img_cond_steps: ${img_cond_steps}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
mlp_dims: [256, 256, 256]
activation_type: Mish
residual_style: True
ft_denoising_steps: ${ft_denoising_steps}
transition_dim: ${transition_dim}
horizon_steps: ${horizon_steps}
obs_dim: ${obs_dim}
action_dim: ${action_dim}
cond_steps: ${cond_steps}
denoising_steps: ${denoising_steps}
device: ${device}
cfg/robomimic/finetune/lift/ft_ppo_diffusion_unet.yaml
+1 -3
View File
@@ -103,15 +103,13 @@ model:
transition_dim: ${transition_dim}
critic:
_target_: model.common.critic.CriticObs
obs_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
mlp_dims: [256, 256, 256]
activation_type: Mish
residual_style: True
ft_denoising_steps: ${ft_denoising_steps}
transition_dim: ${transition_dim}
horizon_steps: ${horizon_steps}
obs_dim: ${obs_dim}
action_dim: ${action_dim}
cond_steps: ${cond_steps}
denoising_steps: ${denoising_steps}
device: ${device}
cfg/robomimic/finetune/lift/ft_ppo_gaussian_mlp.yaml
+1 -2
View File
@@ -94,10 +94,9 @@ model:
transition_dim: ${transition_dim}
critic:
_target_: model.common.critic.CriticObs
obs_dim: ${obs_dim}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
mlp_dims: [256, 256, 256]
activation_type: Mish
residual_style: True
horizon_steps: ${horizon_steps}
cond_steps: ${cond_steps}
device: ${device}

Some files were not shown because too many files have changed in this diff Show More