Upload 2 files
Browse files- config.json +294 -0
- pytorch_model.bin +3 -0
config.json
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{
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"algo_name": "bc",
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"config": {
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"algo_name": "bc",
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"experiment": {
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"name": "table_10M_final_smooth_cubic_with_objaverse",
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"validate": false,
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"logging": {
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"terminal_output_to_txt": false,
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"log_tb": true,
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"log_wandb": true,
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"wandb_proj_name": "neural_mp"
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},
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"save": {
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"enabled": true,
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"every_n_seconds": null,
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"every_n_epochs": 250,
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"epochs": [],
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"on_best_validation": false,
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"on_best_rollout_return": false,
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"on_best_rollout_success_rate": true
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},
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"epoch_every_n_steps": 1000,
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"validation_epoch_every_n_steps": 1000,
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"env": null,
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"additional_envs": null,
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"render": false,
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"render_video": true,
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"keep_all_videos": true,
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"video_skip": 1,
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"rollout": {
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"enabled": false,
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"n": 10,
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"horizon": 300,
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"rate": 250,
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"warmstart": 0,
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"terminate_on_success": true,
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"evaluate_on_dataset": false,
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"evaluate_on_dataset_filter_key": "valid"
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},
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"pcd_params": {
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"num_robot_points": 2048,
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"num_obstacle_points": 4096,
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"target_pcd_type": "joint",
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"noise_scale": 0.0,
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"normalize_joint_angles": false,
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"relabel_goal_angles": false
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},
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"num_envs": 20,
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"dagger": {
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"enabled": false,
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"online_epoch_rate": 50,
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"num_episodes": 10,
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"resampling_strategy": "all",
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"num_steps_to_keep_before_collision": 10,
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"data_mode": "all",
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"dagger_traj_filter": "all",
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"num_trajs_to_relabel": 1
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}
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},
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"train": {
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"pad_same": true,
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"data": "../neural_mp/datasets/final_datasets_v2/table_100K_single_layer_final_smooth_cubic_no_objaverse.hdf5",
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"output_dir": "logs/mp/trained_models",
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"num_data_workers": 16,
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"hdf5_cache_mode": null,
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"hdf5_use_swmr": true,
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"hdf5_load_next_obs": false,
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"hdf5_normalize_obs": false,
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"hdf5_filter_key": "train",
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"hdf5_validation_filter_key": null,
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"seq_length": 2,
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"pad_seq_length": true,
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"frame_stack": 1,
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"pad_frame_stack": true,
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"dataset_keys": [
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"actions"
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],
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"goal_mode": null,
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"cuda": true,
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"batch_size": 16,
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"num_epochs": 10000000,
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"seed": 1
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},
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"algo": {
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"optim_params": {
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"policy": {
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"optimizer_type": "adam",
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"learning_rate": {
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"initial": 0.0001,
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"decay_factor": 0.1,
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"epoch_schedule": [],
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"scheduler_type": "multistep"
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},
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"regularization": {
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"L2": 0.0
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}
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}
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},
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"loss": {
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"l2_weight": 1.0,
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"l1_weight": 0.0,
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"cos_weight": 0.0,
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"collision_weight": 0.0,
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"point_match_weight": 0.0,
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"exponential_precision_weight": 0.0,
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"collision_loss_params": {
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"margin": 0.03,
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"hinge_loss": true,
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"reduction": "mean",
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"smooth_sdf_loss": "none",
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"compute_loss_on_penetrations_only": false
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}
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},
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"actor_layer_dims": [],
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"actor_activation": "nn.ReLU",
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"gaussian": {
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"enabled": false,
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"fixed_std": false,
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"init_std": 0.1,
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"min_std": 0.01,
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"std_activation": "softplus",
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"low_noise_eval": true
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},
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"gmm": {
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"enabled": true,
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"num_modes": 5,
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"min_std": 0.0001,
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"std_activation": "softplus",
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"low_noise_eval": true
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},
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"vae": {
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"enabled": false,
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"latent_dim": 14,
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"latent_clip": null,
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"kl_weight": 1.0,
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"decoder": {
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"is_conditioned": true,
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"reconstruction_sum_across_elements": false
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},
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"prior": {
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"learn": false,
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"is_conditioned": false,
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"use_gmm": false,
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"gmm_num_modes": 10,
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"gmm_learn_weights": false,
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"use_categorical": false,
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"categorical_dim": 10,
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"categorical_gumbel_softmax_hard": false,
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"categorical_init_temp": 1.0,
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"categorical_temp_anneal_step": 0.001,
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"categorical_min_temp": 0.3
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},
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"encoder_layer_dims": [
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],
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"decoder_layer_dims": [
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],
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"prior_layer_dims": [
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]
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},
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"rnn": {
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"enabled": true,
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"horizon": 2,
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"hidden_dim": 1024,
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"rnn_type": "LSTM",
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"num_layers": 2,
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"open_loop": false,
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"kwargs": {
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"bidirectional": false
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}
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},
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"transformer": {
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"enabled": false,
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"context_length": 10,
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"embed_dim": 512,
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"num_layers": 6,
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"num_heads": 8,
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"emb_dropout": 0.1,
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"attn_dropout": 0.1,
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"block_output_dropout": 0.1,
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"sinusoidal_embedding": false,
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"activation": "gelu",
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"supervise_all_steps": false,
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"nn_parameter_for_timesteps": true,
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"act_enabled": false
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},
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"mpinets": {
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"enabled": false
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}
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},
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"observation": {
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"modalities": {
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"obs": {
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"low_dim": [
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"current_angles",
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"goal_angles"
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],
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"rgb": [],
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"depth": [],
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"scan": [],
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"pcd": [
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"compute_pcd_params"
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]
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},
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"goal": {
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"low_dim": [],
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"rgb": [],
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"depth": [],
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"scan": [],
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"pcd": []
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}
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},
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"encoder": {
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"low_dim": {
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"core_class": null,
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"core_kwargs": {},
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"obs_randomizer_class": null,
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"obs_randomizer_kwargs": {}
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},
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"rgb": {
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"core_class": "VisualCore",
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"core_kwargs": {
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"feature_dimension": 64,
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"backbone_class": "ResNet18Conv",
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"backbone_kwargs": {
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"pretrained": false,
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"input_coord_conv": false
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},
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"pool_class": "SpatialSoftmax",
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"pool_kwargs": {
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"num_kp": 32,
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"learnable_temperature": false,
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"temperature": 1.0,
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"noise_std": 0.0
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}
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},
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"obs_randomizer_class": "CropRandomizer",
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"obs_randomizer_kwargs": {
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"crop_height": 224,
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"crop_width": 224,
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"num_crops": 1,
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"pos_enc": false
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}
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},
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"depth": {
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"core_class": "VisualCore",
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"core_kwargs": {},
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"obs_randomizer_class": null,
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"obs_randomizer_kwargs": {}
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},
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"scan": {
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"core_class": "ScanCore",
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"core_kwargs": {},
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"obs_randomizer_class": null,
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"obs_randomizer_kwargs": {}
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},
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"pcd": {
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"core_class": "PcdCore",
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"core_kwargs": {
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"backbone_class": "PointNetEncoder",
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"backbone_kwargs": {
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"encoder_size": "small"
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}
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"obs_randomizer_kwargs": {}
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}
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}
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},
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"meta": {
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"hp_base_config_file": null,
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"hp_keys": [],
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"hp_values": []
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}
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},
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"obs_key_shapes": {
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"compute_pcd_params": [
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],
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"current_angles": [
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],
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"goal_angles": [
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7
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]
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},
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"ac_dim": 7
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}
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pytorch_model.bin
ADDED
@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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oid sha256:6c07d2e51112e21e1479e4186df3e8ce0e73839750b372b99b4c80bfdf7992fb
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size 86410961
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