70 lines
1.7 KiB
YAML
70 lines
1.7 KiB
YAML
defaults:
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- _self_
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hydra:
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run:
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dir: ${logdir}
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_target_: agent.eval.eval_diffusion_agent.EvalDiffusionAgent
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name: ${env_name}_eval_diffusion_mlp_ta${horizon_steps}_td${denoising_steps}
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logdir: ${oc.env:DPPO_LOG_DIR}/d3il-eval/${name}/${now:%Y-%m-%d}_${now:%H-%M-%S}_${seed}
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base_policy_path:
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normalization_path: ${oc.env:DPPO_DATA_DIR}/d3il/avoid_m1/normalization.npz
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seed: 42
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device: cuda:0
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env_name: avoiding-m5
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obs_dim: 4
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action_dim: 2
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denoising_steps: 20
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cond_steps: 1
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horizon_steps: 4
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act_steps: 4
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ft_denoising_steps: 0
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n_steps: 25
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render_num: 40
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plotter:
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_target_: env.plot_traj.TrajPlotter
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env_type: avoid
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normalization_path: ${normalization_path}
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env:
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n_envs: 40
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name: ${env_name}
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max_episode_steps: 100
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reset_at_iteration: True
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save_video: False
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best_reward_threshold_for_success: 2
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save_full_observations: True
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wrappers:
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d3il_lowdim:
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normalization_path: ${normalization_path}
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multi_step:
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n_obs_steps: ${cond_steps}
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n_action_steps: ${act_steps}
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max_episode_steps: ${env.max_episode_steps}
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pass_full_observations: ${env.save_full_observations}
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reset_within_step: False
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model:
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_target_: model.diffusion.diffusion_eval_ft.DiffusionEval
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ft_denoising_steps: ${ft_denoising_steps}
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predict_epsilon: True
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denoised_clip_value: 1.0
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#
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network_path: ${base_policy_path}
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network:
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_target_: model.diffusion.mlp_diffusion.DiffusionMLP
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time_dim: 16
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mlp_dims: [512, 512, 512]
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activation_type: ReLU
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residual_style: True
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cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
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horizon_steps: ${horizon_steps}
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action_dim: ${action_dim}
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horizon_steps: ${horizon_steps}
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obs_dim: ${obs_dim}
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action_dim: ${action_dim}
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denoising_steps: ${denoising_steps}
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device: ${device} |