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v0.5 to main (#10)

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* v0.5 (#9)

* update idql configs

* update awr configs

* update dipo configs

* update qsm configs

* update dqm configs

* update project version to 0.5.0
This commit is contained in:
Allen Z. Ren
2024-10-07 16:35:13 -04:00
committed by GitHub
parent dd14c5887c
commit e0842e71dc
267 changed files with 6769 additions and 1645 deletions
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cfg/d3il/finetune/avoid_m1/ft_ppo_diffusion_mlp.yaml
+1 -2
View File
@@ -16,7 +16,6 @@ env_name: avoiding-m5
mode: d56_r12 # M1, desired modes 5 and 6, required modes 1 and 2
obs_dim: 4
action_dim: 2
transition_dim: ${action_dim}
denoising_steps: 20
ft_denoising_steps: 10
cond_steps: 1
@@ -102,7 +101,7 @@ model:
residual_style: True
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
horizon_steps: ${horizon_steps}
transition_dim: ${transition_dim}
action_dim: ${action_dim}
critic:
_target_: model.common.critic.CriticObs
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
cfg/d3il/finetune/avoid_m1/ft_ppo_gaussian_mlp.yaml
+1 -2
View File
@@ -16,7 +16,6 @@ env_name: avoiding-m5
mode: d56_r12 # M1, desired modes 5 and 6, required modes 1 and 2
obs_dim: 4
action_dim: 2
transition_dim: ${action_dim}
cond_steps: 1
horizon_steps: 4
act_steps: 4
@@ -94,7 +93,7 @@ model:
learn_fixed_std: False
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
horizon_steps: ${horizon_steps}
transition_dim: ${transition_dim}
action_dim: ${action_dim}
critic:
_target_: model.common.critic.CriticObs
mlp_dims: [256, 256, 256]
cfg/d3il/finetune/avoid_m1/ft_ppo_gmm_mlp.yaml
+1 -2
View File
@@ -16,7 +16,6 @@ env_name: avoiding-m5
mode: d56_r12 # M1, desired modes 5 and 6, required modes 1 and 2
obs_dim: 4
action_dim: 2
transition_dim: ${action_dim}
cond_steps: 1
horizon_steps: 4
act_steps: 4
@@ -95,7 +94,7 @@ model:
num_modes: ${num_modes}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
horizon_steps: ${horizon_steps}
transition_dim: ${transition_dim}
action_dim: ${action_dim}
critic:
_target_: model.common.critic.CriticObs
mlp_dims: [256, 256, 256]
cfg/d3il/finetune/avoid_m2/ft_ppo_diffusion_mlp.yaml
+1 -2
View File
@@ -16,7 +16,6 @@ env_name: avoiding-m5
mode: d57_r12 # M2, desired modes 5 and 7, required modes 1 and 2
obs_dim: 4
action_dim: 2
transition_dim: ${action_dim}
denoising_steps: 20
ft_denoising_steps: 10
cond_steps: 1
@@ -102,7 +101,7 @@ model:
residual_style: True
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
horizon_steps: ${horizon_steps}
transition_dim: ${transition_dim}
action_dim: ${action_dim}
critic:
_target_: model.common.critic.CriticObs
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
cfg/d3il/finetune/avoid_m2/ft_ppo_gaussian_mlp.yaml
+1 -2
View File
@@ -16,7 +16,6 @@ env_name: avoiding-m5
mode: d57_r12 # M2, desired modes 5 and 7, required modes 1 and 2
obs_dim: 4
action_dim: 2
transition_dim: ${action_dim}
cond_steps: 1
horizon_steps: 4
act_steps: 4
@@ -94,7 +93,7 @@ model:
learn_fixed_std: False
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
horizon_steps: ${horizon_steps}
transition_dim: ${transition_dim}
action_dim: ${action_dim}
critic:
_target_: model.common.critic.CriticObs
mlp_dims: [256, 256, 256]
cfg/d3il/finetune/avoid_m2/ft_ppo_gmm_mlp.yaml
+1 -2
View File
@@ -16,7 +16,6 @@ env_name: avoiding-m5
mode: d57_r12 # M2, desired modes 5 and 7, required modes 1 and 2
obs_dim: 4
action_dim: 2
transition_dim: ${action_dim}
cond_steps: 1
horizon_steps: 4
act_steps: 4
@@ -95,7 +94,7 @@ model:
num_modes: ${num_modes}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
horizon_steps: ${horizon_steps}
transition_dim: ${transition_dim}
action_dim: ${action_dim}
critic:
_target_: model.common.critic.CriticObs
mlp_dims: [256, 256, 256]
cfg/d3il/finetune/avoid_m3/ft_ppo_diffusion_mlp.yaml
+1 -2
View File
@@ -16,7 +16,6 @@ env_name: avoiding-m5
mode: d58_r12 # M3, desired modes 5 and 8, required modes 1 and 2
obs_dim: 4
action_dim: 2
transition_dim: ${action_dim}
denoising_steps: 20
ft_denoising_steps: 10
cond_steps: 1
@@ -102,7 +101,7 @@ model:
residual_style: True
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
horizon_steps: ${horizon_steps}
transition_dim: ${transition_dim}
action_dim: ${action_dim}
critic:
_target_: model.common.critic.CriticObs
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
cfg/d3il/finetune/avoid_m3/ft_ppo_gaussian_mlp.yaml
+1 -2
View File
@@ -16,7 +16,6 @@ env_name: avoiding-m5
mode: d58_r12 # M3, desired modes 5 and 8, required modes 1 and 2
obs_dim: 4
action_dim: 2
transition_dim: ${action_dim}
cond_steps: 1
horizon_steps: 4
act_steps: 4
@@ -94,7 +93,7 @@ model:
learn_fixed_std: False
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
horizon_steps: ${horizon_steps}
transition_dim: ${transition_dim}
action_dim: ${action_dim}
critic:
_target_: model.common.critic.CriticObs
mlp_dims: [256, 256, 256]
cfg/d3il/finetune/avoid_m3/ft_ppo_gmm_mlp.yaml
+1 -2
View File
@@ -16,7 +16,6 @@ env_name: avoiding-m5
mode: d58_r12 # M3, desired modes 5 and 8, required modes 1 and 2
obs_dim: 4
action_dim: 2
transition_dim: ${action_dim}
cond_steps: 1
horizon_steps: 4
act_steps: 4
@@ -95,7 +94,7 @@ model:
num_modes: ${num_modes}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
horizon_steps: ${horizon_steps}
transition_dim: ${transition_dim}
action_dim: ${action_dim}
critic:
_target_: model.common.critic.CriticObs
mlp_dims: [256, 256, 256]
cfg/d3il/pretrain/avoid_m1/pre_diffusion_mlp.yaml
+1 -2
View File
@@ -15,7 +15,6 @@ env: avoid
mode: d56_r12 # M1, desired modes 5 and 6, required modes 1 and 2
obs_dim: 4
action_dim: 2
transition_dim: ${action_dim}
denoising_steps: 20
horizon_steps: 4
cond_steps: 1
@@ -50,7 +49,7 @@ model:
residual_style: True
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
horizon_steps: ${horizon_steps}
transition_dim: ${transition_dim}
action_dim: ${action_dim}
horizon_steps: ${horizon_steps}
obs_dim: ${obs_dim}
action_dim: ${action_dim}
cfg/d3il/pretrain/avoid_m1/pre_gaussian_mlp.yaml
+1 -2
View File
@@ -15,7 +15,6 @@ env: avoid
mode: d56_r12 # M1, desired modes 5 and 6, required modes 1 and 2
obs_dim: 4
action_dim: 2
transition_dim: ${action_dim}
horizon_steps: 4
cond_steps: 1
@@ -47,7 +46,7 @@ model:
fixed_std: 0.1
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
horizon_steps: ${horizon_steps}
transition_dim: ${transition_dim}
action_dim: ${action_dim}
horizon_steps: ${horizon_steps}
device: ${device}
cfg/d3il/pretrain/avoid_m1/pre_gmm_mlp.yaml
+1 -2
View File
@@ -15,7 +15,6 @@ env: avoid
mode: d56_r12 # M1, desired modes 5 and 6, required modes 1 and 2
obs_dim: 4
action_dim: 2
transition_dim: ${action_dim}
horizon_steps: 4
cond_steps: 1
num_modes: 5
@@ -49,7 +48,7 @@ model:
num_modes: ${num_modes}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
horizon_steps: ${horizon_steps}
transition_dim: ${transition_dim}
action_dim: ${action_dim}
horizon_steps: ${horizon_steps}
device: ${device}
cfg/d3il/pretrain/avoid_m2/pre_diffusion_mlp.yaml
+1 -2
View File
@@ -15,7 +15,6 @@ env: avoid
mode: d57_r12 # M2, desired modes 5 and 7, required modes 1 and 2
obs_dim: 4
action_dim: 2
transition_dim: ${action_dim}
denoising_steps: 20
horizon_steps: 4
cond_steps: 1
@@ -50,7 +49,7 @@ model:
residual_style: True
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
horizon_steps: ${horizon_steps}
transition_dim: ${transition_dim}
action_dim: ${action_dim}
horizon_steps: ${horizon_steps}
obs_dim: ${obs_dim}
action_dim: ${action_dim}
cfg/d3il/pretrain/avoid_m2/pre_gaussian_mlp.yaml
+1 -2
View File
@@ -15,7 +15,6 @@ env: avoid
mode: d57_r12 # M2, desired modes 5 and 7, required modes 1 and 2
obs_dim: 4
action_dim: 2
transition_dim: ${action_dim}
horizon_steps: 4
cond_steps: 1
@@ -47,7 +46,7 @@ model:
fixed_std: 0.1
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
horizon_steps: ${horizon_steps}
transition_dim: ${transition_dim}
action_dim: ${action_dim}
horizon_steps: ${horizon_steps}
device: ${device}
cfg/d3il/pretrain/avoid_m2/pre_gmm_mlp.yaml
+1 -2
View File
@@ -15,7 +15,6 @@ env: avoid
mode: d57_r12 # M2, desired modes 5 and 7, required modes 1 and 2
obs_dim: 4
action_dim: 2
transition_dim: ${action_dim}
horizon_steps: 4
cond_steps: 1
num_modes: 5
@@ -49,7 +48,7 @@ model:
num_modes: ${num_modes}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
horizon_steps: ${horizon_steps}
transition_dim: ${transition_dim}
action_dim: ${action_dim}
horizon_steps: ${horizon_steps}
device: ${device}
cfg/d3il/pretrain/avoid_m3/pre_diffusion_mlp.yaml
+1 -2
View File
@@ -15,7 +15,6 @@ env: avoid
mode: d58_r12 # M3, desired modes 5 and 8, required modes 1 and 2
obs_dim: 4
action_dim: 2
transition_dim: ${action_dim}
denoising_steps: 20
horizon_steps: 4
cond_steps: 1
@@ -50,7 +49,7 @@ model:
residual_style: True
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
horizon_steps: ${horizon_steps}
transition_dim: ${transition_dim}
action_dim: ${action_dim}
horizon_steps: ${horizon_steps}
obs_dim: ${obs_dim}
action_dim: ${action_dim}
cfg/d3il/pretrain/avoid_m3/pre_gaussian_mlp.yaml
+1 -2
View File
@@ -15,7 +15,6 @@ env: avoid
mode: d58_r12 # M3, desired modes 5 and 8, required modes 1 and 2
obs_dim: 4
action_dim: 2
transition_dim: ${action_dim}
horizon_steps: 4
cond_steps: 1
@@ -47,7 +46,7 @@ model:
fixed_std: 0.1
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
horizon_steps: ${horizon_steps}
transition_dim: ${transition_dim}
action_dim: ${action_dim}
horizon_steps: ${horizon_steps}
device: ${device}
cfg/d3il/pretrain/avoid_m3/pre_gmm_mlp.yaml
+1 -2
View File
@@ -15,7 +15,6 @@ env: avoid
mode: d58_r12 # M3, desired modes 5 and 8, required modes 1 and 2
obs_dim: 4
action_dim: 2
transition_dim: ${action_dim}
horizon_steps: 4
cond_steps: 1
num_modes: 5
@@ -49,7 +48,7 @@ model:
num_modes: ${num_modes}
cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
horizon_steps: ${horizon_steps}
transition_dim: ${transition_dim}
action_dim: ${action_dim}
horizon_steps: ${horizon_steps}
device: ${device}