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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/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: