diff --git a/metaworld-dsrl/2025-12-04/metaworld_sweep-into-v3_dsrl_2025-12-04_03-27-09_1/.hydra/config.yaml b/metaworld-dsrl/2025-12-04/metaworld_sweep-into-v3_dsrl_2025-12-04_03-27-09_1/.hydra/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8dd81ab568cc5f5187d780ccb4e1f17da948080b --- /dev/null +++ b/metaworld-dsrl/2025-12-04/metaworld_sweep-into-v3_dsrl_2025-12-04_03-27-09_1/.hydra/config.yaml @@ -0,0 +1,86 @@ +env_name: sweep-into-v3 +base_policy_steps: ta1_td10 +base_policy_datetime: 2025-11-26_13-56-38_42 +name: metaworld_${env_name}_dsrl_${now:%Y-%m-%d}_${now:%H-%M-%S}_${seed} +logdir: ${log_dir}/metaworld-dsrl/${now:%Y-%m-%d}/${name} +base_policy_path: ./dppo/log/metaworld-pretrain/${env_name}_pre_diffusion_mlp_${base_policy_steps}/${base_policy_datetime}/checkpoint/state_5000.pt +dppo_path: ./dppo +normalization_path: ./dppo/log/metaworld/${env_name}/normalization.npz +algorithm: dsrl_na +seed: 1 +device: cuda:0 +use_wandb: true +log_dir: ./logs +obs_dim: 39 +action_dim: 4 +cond_steps: 1 +act_steps: 1 +load_offline_data: false +deterministic_eval: false +eval_interval: 1500 +num_evals: 200 +save_model_interval: ${eval_interval} +save_replay_buffer: false +env: + n_envs: 16 + n_eval_envs: 25 + name: ${env_name} + max_episode_steps: 150 + reset_at_iteration: false + save_video: false + use_success_info: true + reward_offset: 1 + wrappers: + metaworld_lowdim: + normalization_path: ${normalization_path} + multi_step: + n_obs_steps: ${cond_steps} + n_action_steps: ${act_steps} + max_episode_steps: ${env.max_episode_steps} + reset_within_step: true +wandb: + project: dsrl + run: ${now:%H-%M-%S}_${name} + group: metaworld-${env_name} +train: + total_timesteps: 5000000 + tau: 0.005 + actor_lr: 6.0e-05 + batch_size: 256 + train_freq: 10 + utd: 20 + noise_critic_grad_steps: 10 + use_layer_norm: true + layer_size: 1024 + num_layers: 2 + discount: 0.99 + ent_coef: -1 + target_ent: 0.0 + init_rollout_steps: 1501 + action_magnitude: 1.5 + n_critics: 2 + critic_backup_combine_type: min +model: + _target_: model.diffusion.diffusion_eval.DiffusionEval + ft_denoising_steps: 0 + predict_epsilon: true + denoised_clip_value: 1.0 + network_path: ${base_policy_path} + network: + _target_: model.diffusion.mlp_diffusion.DiffusionMLP + time_dim: 16 + mlp_dims: + - 16 + - 16 + residual_style: false + cond_dim: ${eval:'${obs_dim} * ${cond_steps}'} + horizon_steps: ${act_steps} + action_dim: ${action_dim} + horizon_steps: ${act_steps} + obs_dim: ${obs_dim} + action_dim: ${action_dim} + denoising_steps: 10 + device: ${device} + use_ddim: true + ddim_steps: 2 + controllable_noise: true diff --git a/metaworld-dsrl/2025-12-04/metaworld_sweep-into-v3_dsrl_2025-12-04_03-27-09_1/.hydra/hydra.yaml b/metaworld-dsrl/2025-12-04/metaworld_sweep-into-v3_dsrl_2025-12-04_03-27-09_1/.hydra/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8429ff2ba6504e3e3670096e91f53c162651b2c4 --- /dev/null +++ b/metaworld-dsrl/2025-12-04/metaworld_sweep-into-v3_dsrl_2025-12-04_03-27-09_1/.hydra/hydra.yaml @@ -0,0 +1,154 @@ +hydra: + run: + dir: ${logdir} + sweep: + dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S} + subdir: ${hydra.job.num} + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + params: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console 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a/metaworld-dsrl/2025-12-04/metaworld_sweep-into-v3_dsrl_2025-12-04_03-27-09_1/train_dsrl.log b/metaworld-dsrl/2025-12-04/metaworld_sweep-into-v3_dsrl_2025-12-04_03-27-09_1/train_dsrl.log new file mode 100644 index 0000000000000000000000000000000000000000..6e33f8730bc75092ea586c6374743271e9922cbb --- /dev/null +++ b/metaworld-dsrl/2025-12-04/metaworld_sweep-into-v3_dsrl_2025-12-04_03-27-09_1/train_dsrl.log @@ -0,0 +1,3 @@ +[2025-12-04 03:27:19,446][root][INFO] - Number of network parameters: 2372 +[2025-12-04 03:27:19,554][root][INFO] - Actor weights not found. Using pre-trained weights! +[2025-12-04 03:27:19,555][root][INFO] - Loaded base policy weights from ./dppo/log/metaworld-pretrain/sweep-into-v3_pre_diffusion_mlp_ta1_td10/2025-11-26_13-56-38_42/checkpoint/state_5000.pt