62 lines
1.1 KiB
YAML
62 lines
1.1 KiB
YAML
defaults:
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- launcher: local
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- solver: cem
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- _self_
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world:
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env_name: swm/OGBCube-v0
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num_envs: ${eval.num_eval}
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max_episode_steps: ??? # make sure it's >= eval_budget
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history_size: 1
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frame_skip: 1
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env_type: single
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ob_type: states
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multiview: False
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width: 224
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height: 224
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visualize_info: False
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terminate_at_goal: True
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dataset:
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stats: ${eval.dataset_name}
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keys_to_cache:
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- action
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seed: 42
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policy: random # ckpt name or random
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plan_config:
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horizon: 5
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receding_horizon: 5
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action_block: 5 # frameskip
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# evaluation from dataset (replay expert trajectories)
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eval:
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num_eval: 50
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goal_offset_steps: 25
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eval_budget: 50
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img_size: 224
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dataset_name: ogbench/cube_single_expert
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callables:
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# -- set state
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- method: set_state
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args:
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qpos:
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value: qpos
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qvel:
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value: qvel
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# -- set target pos
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- method: set_target_pos
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args:
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cube_id:
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value: 0
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in_dataset: False
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target_pos:
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value: goal_privileged_block_0_pos
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target_quat:
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value: goal_privileged_block_0_quat
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output:
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filename: ogb_cube_results.txt
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