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  1. metaworld-dsrl/2025-11-26/metaworld_push-v3_dsrl_2025-11-26_15-59-26_1/.hydra/config.yaml +86 -0
  2. metaworld-dsrl/2025-11-26/metaworld_push-v3_dsrl_2025-11-26_15-59-26_1/.hydra/hydra.yaml +154 -0
  3. metaworld-dsrl/2025-11-26/metaworld_push-v3_dsrl_2025-11-26_15-59-26_1/.hydra/overrides.yaml +1 -0
  4. metaworld-dsrl/2025-11-26/metaworld_push-v3_dsrl_2025-11-26_15-59-26_1/SAC_1/events.out.tfevents.1764144031.741-a6000x4.798969.0 +3 -0
  5. metaworld-dsrl/2025-11-26/metaworld_push-v3_dsrl_2025-11-26_15-59-26_1/checkpoint/ft_policy_1040000_steps.zip +3 -0
  6. metaworld-dsrl/2025-11-26/metaworld_push-v3_dsrl_2025-11-26_15-59-26_1/checkpoint/ft_policy_1120000_steps.zip +3 -0
  7. metaworld-dsrl/2025-11-26/metaworld_push-v3_dsrl_2025-11-26_15-59-26_1/checkpoint/ft_policy_1200000_steps.zip +3 -0
  8. metaworld-dsrl/2025-11-26/metaworld_push-v3_dsrl_2025-11-26_15-59-26_1/checkpoint/ft_policy_1280000_steps.zip +3 -0
  9. metaworld-dsrl/2025-11-26/metaworld_push-v3_dsrl_2025-11-26_15-59-26_1/checkpoint/ft_policy_1360000_steps.zip +3 -0
  10. metaworld-dsrl/2025-11-26/metaworld_push-v3_dsrl_2025-11-26_15-59-26_1/checkpoint/ft_policy_1440000_steps.zip +3 -0
  11. metaworld-dsrl/2025-11-26/metaworld_push-v3_dsrl_2025-11-26_15-59-26_1/checkpoint/ft_policy_1520000_steps.zip +3 -0
  12. metaworld-dsrl/2025-11-26/metaworld_push-v3_dsrl_2025-11-26_15-59-26_1/checkpoint/ft_policy_1600000_steps.zip +3 -0
  13. metaworld-dsrl/2025-11-26/metaworld_push-v3_dsrl_2025-11-26_15-59-26_1/checkpoint/ft_policy_160000_steps.zip +3 -0
  14. metaworld-dsrl/2025-11-26/metaworld_push-v3_dsrl_2025-11-26_15-59-26_1/checkpoint/ft_policy_1680000_steps.zip +3 -0
  15. metaworld-dsrl/2025-11-26/metaworld_push-v3_dsrl_2025-11-26_15-59-26_1/checkpoint/ft_policy_1760000_steps.zip +3 -0
  16. metaworld-dsrl/2025-11-26/metaworld_push-v3_dsrl_2025-11-26_15-59-26_1/checkpoint/ft_policy_1840000_steps.zip +3 -0
  17. metaworld-dsrl/2025-11-26/metaworld_push-v3_dsrl_2025-11-26_15-59-26_1/checkpoint/ft_policy_1920000_steps.zip +3 -0
  18. metaworld-dsrl/2025-11-26/metaworld_push-v3_dsrl_2025-11-26_15-59-26_1/checkpoint/ft_policy_2000000_steps.zip +3 -0
  19. metaworld-dsrl/2025-11-26/metaworld_push-v3_dsrl_2025-11-26_15-59-26_1/checkpoint/ft_policy_2080000_steps.zip +3 -0
  20. metaworld-dsrl/2025-11-26/metaworld_push-v3_dsrl_2025-11-26_15-59-26_1/checkpoint/ft_policy_2160000_steps.zip +3 -0
  21. metaworld-dsrl/2025-11-26/metaworld_push-v3_dsrl_2025-11-26_15-59-26_1/checkpoint/ft_policy_2240000_steps.zip +3 -0
  22. metaworld-dsrl/2025-11-26/metaworld_push-v3_dsrl_2025-11-26_15-59-26_1/checkpoint/ft_policy_2320000_steps.zip +3 -0
  23. metaworld-dsrl/2025-11-26/metaworld_push-v3_dsrl_2025-11-26_15-59-26_1/checkpoint/ft_policy_2400000_steps.zip +3 -0
  24. metaworld-dsrl/2025-11-26/metaworld_push-v3_dsrl_2025-11-26_15-59-26_1/checkpoint/ft_policy_240000_steps.zip +3 -0
  25. metaworld-dsrl/2025-11-26/metaworld_push-v3_dsrl_2025-11-26_15-59-26_1/checkpoint/ft_policy_320000_steps.zip +3 -0
  26. metaworld-dsrl/2025-11-26/metaworld_push-v3_dsrl_2025-11-26_15-59-26_1/checkpoint/ft_policy_400000_steps.zip +3 -0
  27. metaworld-dsrl/2025-11-26/metaworld_push-v3_dsrl_2025-11-26_15-59-26_1/checkpoint/ft_policy_480000_steps.zip +3 -0
  28. metaworld-dsrl/2025-11-26/metaworld_push-v3_dsrl_2025-11-26_15-59-26_1/checkpoint/ft_policy_560000_steps.zip +3 -0
  29. metaworld-dsrl/2025-11-26/metaworld_push-v3_dsrl_2025-11-26_15-59-26_1/checkpoint/ft_policy_640000_steps.zip +3 -0
  30. metaworld-dsrl/2025-11-26/metaworld_push-v3_dsrl_2025-11-26_15-59-26_1/checkpoint/ft_policy_720000_steps.zip +3 -0
  31. metaworld-dsrl/2025-11-26/metaworld_push-v3_dsrl_2025-11-26_15-59-26_1/checkpoint/ft_policy_800000_steps.zip +3 -0
  32. metaworld-dsrl/2025-11-26/metaworld_push-v3_dsrl_2025-11-26_15-59-26_1/checkpoint/ft_policy_80000_steps.zip +3 -0
  33. metaworld-dsrl/2025-11-26/metaworld_push-v3_dsrl_2025-11-26_15-59-26_1/checkpoint/ft_policy_880000_steps.zip +3 -0
  34. metaworld-dsrl/2025-11-26/metaworld_push-v3_dsrl_2025-11-26_15-59-26_1/checkpoint/ft_policy_960000_steps.zip +3 -0
  35. metaworld-dsrl/2025-11-26/metaworld_push-v3_dsrl_2025-11-26_15-59-26_1/train_dsrl.log +3 -0
metaworld-dsrl/2025-11-26/metaworld_push-v3_dsrl_2025-11-26_15-59-26_1/.hydra/config.yaml ADDED
@@ -0,0 +1,86 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ env_name: push-v3
2
+ base_policy_steps: ta1_td10
3
+ base_policy_datetime: 2025-11-24_15-24-55_42
4
+ name: metaworld_${env_name}_dsrl_${now:%Y-%m-%d}_${now:%H-%M-%S}_${seed}
5
+ logdir: ${log_dir}/metaworld-dsrl/${now:%Y-%m-%d}/${name}
6
+ base_policy_path: ./dppo/log/metaworld-pretrain/${env_name}_pre_diffusion_mlp_${base_policy_steps}/${base_policy_datetime}/checkpoint/state_5000.pt
7
+ dppo_path: ./dppo
8
+ normalization_path: ./dppo/log/metaworld/${env_name}/normalization.npz
9
+ algorithm: dsrl_na
10
+ seed: 1
11
+ device: cuda:0
12
+ use_wandb: true
13
+ log_dir: ./logs
14
+ obs_dim: 39
15
+ action_dim: 4
16
+ cond_steps: 1
17
+ act_steps: 1
18
+ load_offline_data: false
19
+ deterministic_eval: false
20
+ eval_interval: 5000
21
+ num_evals: 200
22
+ save_model_interval: 5000
23
+ save_replay_buffer: false
24
+ env:
25
+ n_envs: 16
26
+ n_eval_envs: 25
27
+ name: ${env_name}
28
+ max_episode_steps: 100
29
+ reset_at_iteration: false
30
+ save_video: false
31
+ use_success_info: true
32
+ reward_offset: 1
33
+ wrappers:
34
+ metaworld_lowdim:
35
+ normalization_path: ${normalization_path}
36
+ multi_step:
37
+ n_obs_steps: ${cond_steps}
38
+ n_action_steps: ${act_steps}
39
+ max_episode_steps: ${env.max_episode_steps}
40
+ reset_within_step: true
41
+ wandb:
42
+ project: dsrl
43
+ run: ${now:%H-%M-%S}_${name}
44
+ group: metaworld-${env_name}
45
+ train:
46
+ total_timesteps: 5000000
47
+ tau: 0.005
48
+ actor_lr: 6.0e-05
49
+ batch_size: 256
50
+ train_freq: 1
51
+ utd: 20
52
+ noise_critic_grad_steps: 10
53
+ use_layer_norm: true
54
+ layer_size: 1024
55
+ num_layers: 2
56
+ discount: 0.99
57
+ ent_coef: -1
58
+ target_ent: 0.0
59
+ init_rollout_steps: 1501
60
+ action_magnitude: 1.5
61
+ n_critics: 2
62
+ critic_backup_combine_type: min
63
+ model:
64
+ _target_: model.diffusion.diffusion_eval.DiffusionEval
65
+ ft_denoising_steps: 0
66
+ predict_epsilon: true
67
+ denoised_clip_value: 1.0
68
+ network_path: ${base_policy_path}
69
+ network:
70
+ _target_: model.diffusion.mlp_diffusion.DiffusionMLP
71
+ time_dim: 16
72
+ mlp_dims:
73
+ - 64
74
+ - 64
75
+ residual_style: false
76
+ cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
77
+ horizon_steps: ${act_steps}
78
+ action_dim: ${action_dim}
79
+ horizon_steps: ${act_steps}
80
+ obs_dim: ${obs_dim}
81
+ action_dim: ${action_dim}
82
+ denoising_steps: 10
83
+ device: ${device}
84
+ use_ddim: true
85
+ ddim_steps: 1
86
+ controllable_noise: true
metaworld-dsrl/2025-11-26/metaworld_push-v3_dsrl_2025-11-26_15-59-26_1/.hydra/hydra.yaml ADDED
@@ -0,0 +1,154 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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+ hydra:
2
+ run:
3
+ dir: ${logdir}
4
+ sweep:
5
+ dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S}
6
+ subdir: ${hydra.job.num}
7
+ launcher:
8
+ _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
9
+ sweeper:
10
+ _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
11
+ max_batch_size: null
12
+ params: null
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+ help:
14
+ app_name: ${hydra.job.name}
15
+ header: '${hydra.help.app_name} is powered by Hydra.
16
+
17
+ '
18
+ footer: 'Powered by Hydra (https://hydra.cc)
19
+
20
+ Use --hydra-help to view Hydra specific help
21
+
22
+ '
23
+ template: '${hydra.help.header}
24
+
25
+ == Configuration groups ==
26
+
27
+ Compose your configuration from those groups (group=option)
28
+
29
+
30
+ $APP_CONFIG_GROUPS
31
+
32
+
33
+ == Config ==
34
+
35
+ Override anything in the config (foo.bar=value)
36
+
37
+
38
+ $CONFIG
39
+
40
+
41
+ ${hydra.help.footer}
42
+
43
+ '
44
+ hydra_help:
45
+ template: 'Hydra (${hydra.runtime.version})
46
+
47
+ See https://hydra.cc for more info.
48
+
49
+
50
+ == Flags ==
51
+
52
+ $FLAGS_HELP
53
+
54
+
55
+ == Configuration groups ==
56
+
57
+ Compose your configuration from those groups (For example, append hydra/job_logging=disabled
58
+ to command line)
59
+
60
+
61
+ $HYDRA_CONFIG_GROUPS
62
+
63
+
64
+ Use ''--cfg hydra'' to Show the Hydra config.
65
+
66
+ '
67
+ hydra_help: ???
68
+ hydra_logging:
69
+ version: 1
70
+ formatters:
71
+ simple:
72
+ format: '[%(asctime)s][HYDRA] %(message)s'
73
+ handlers:
74
+ console:
75
+ class: logging.StreamHandler
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+ formatter: simple
77
+ stream: ext://sys.stdout
78
+ root:
79
+ level: INFO
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+ handlers:
81
+ - console
82
+ loggers:
83
+ logging_example:
84
+ level: DEBUG
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+ disable_existing_loggers: false
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+ job_logging:
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+ version: 1
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+ formatters:
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+ simple:
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+ format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
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+ handlers:
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+ console:
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+ class: logging.StreamHandler
94
+ formatter: simple
95
+ stream: ext://sys.stdout
96
+ file:
97
+ class: logging.FileHandler
98
+ formatter: simple
99
+ filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
100
+ root:
101
+ level: INFO
102
+ handlers:
103
+ - console
104
+ - file
105
+ disable_existing_loggers: false
106
+ env: {}
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+ mode: RUN
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+ searchpath: []
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+ callbacks: {}
110
+ output_subdir: .hydra
111
+ overrides:
112
+ hydra:
113
+ - hydra.mode=RUN
114
+ task: []
115
+ job:
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+ name: train_dsrl
117
+ chdir: null
118
+ override_dirname: ''
119
+ id: ???
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+ num: ???
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+ config_name: dsrl_push-v3.yaml
122
+ env_set: {}
123
+ env_copy: []
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+ config:
125
+ override_dirname:
126
+ kv_sep: '='
127
+ item_sep: ','
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+ exclude_keys: []
129
+ runtime:
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+ version: 1.3.2
131
+ version_base: '1.3'
132
+ cwd: /home/r14922071/rpl_final/dsdp
133
+ config_sources:
134
+ - path: hydra.conf
135
+ schema: pkg
136
+ provider: hydra
137
+ - path: /home/r14922071/rpl_final/dsdp/cfg/metaworld/dsrl
138
+ schema: file
139
+ provider: main
140
+ - path: ''
141
+ schema: structured
142
+ provider: schema
143
+ output_dir: /home/r14922071/rpl_final/dsdp/logs/metaworld-dsrl/2025-11-26/metaworld_push-v3_dsrl_2025-11-26_15-59-26_1
144
+ choices:
145
+ hydra/env: default
146
+ hydra/callbacks: null
147
+ hydra/job_logging: default
148
+ hydra/hydra_logging: default
149
+ hydra/hydra_help: default
150
+ hydra/help: default
151
+ hydra/sweeper: basic
152
+ hydra/launcher: basic
153
+ hydra/output: default
154
+ verbose: false
metaworld-dsrl/2025-11-26/metaworld_push-v3_dsrl_2025-11-26_15-59-26_1/.hydra/overrides.yaml ADDED
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+ [2025-11-26 15:59:33,579][root][INFO] - Number of network parameters: 9332
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