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metaworld-dsrl/2025-12-17/metaworld_reach-v3_dsrl_2025-12-17_22-49-38_2/.hydra/config.yaml

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+env_name: reach-v3
+base_policy_steps: ta1_td10
+base_policy_datetime: 2025-11-24_14-36-00_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: 2
+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: 7500
+num_evals: 200
+save_model_interval: ${eval_interval}
+save_replay_buffer: true
+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
+  sparse_reward: false
+  reward_offset: 0.0
+  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:
+    - 32
+    - 32
+    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: 1
+  controllable_noise: true

metaworld-dsrl/2025-12-17/metaworld_reach-v3_dsrl_2025-12-17_22-49-38_2/.hydra/hydra.yaml

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+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
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: RUN
+  searchpath: []
+  callbacks: {}
+  output_subdir: .hydra
+  overrides:
+    hydra:
+    - hydra.mode=RUN
+    task: []
+  job:
+    name: train_dsrl
+    chdir: null
+    override_dirname: ''
+    id: ???
+    num: ???
+    config_name: dsrl_reach-v3.yaml
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.3.2
+    version_base: '1.3'
+    cwd: /home/r14922071/rpl_final/dsdp
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: /home/r14922071/rpl_final/dsdp/cfg/metaworld/dsrl
+      schema: file
+      provider: main
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: /home/r14922071/rpl_final/dsdp/logs/metaworld-dsrl/2025-12-17/metaworld_reach-v3_dsrl_2025-12-17_22-49-38_2
+    choices:
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: basic
+      hydra/output: default
+  verbose: false

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+[2025-12-17 22:49:45,609][root][INFO] - Number of network parameters: 4180
+[2025-12-17 22:49:45,735][root][INFO] - Actor weights not found. Using pre-trained weights!
+[2025-12-17 22:49:45,735][root][INFO] - Loaded base policy weights from ./dppo/log/metaworld-pretrain/reach-v3_pre_diffusion_mlp_ta1_td10/2025-11-24_14-36-00_42/checkpoint/state_5000.pt