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allenzren
2024-09-11 21:09:17 -04:00
parent 8ce0aa1485
commit 2ddf63b8f5
200 changed files with 1240 additions and 1186 deletions
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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}