diff --git a/metaworld-dsrl/2025-12-17/metaworld_reach-v3_dsrl_2025-12-17_22-49-38_2/.hydra/config.yaml b/metaworld-dsrl/2025-12-17/metaworld_reach-v3_dsrl_2025-12-17_22-49-38_2/.hydra/config.yaml deleted file mode 100644 index a8bd297b45a06a0e557e4d7ec25ac0dbc41e1a89..0000000000000000000000000000000000000000 --- a/metaworld-dsrl/2025-12-17/metaworld_reach-v3_dsrl_2025-12-17_22-49-38_2/.hydra/config.yaml +++ /dev/null @@ -1,87 +0,0 @@ -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 diff --git a/metaworld-dsrl/2025-12-17/metaworld_reach-v3_dsrl_2025-12-17_22-49-38_2/.hydra/hydra.yaml b/metaworld-dsrl/2025-12-17/metaworld_reach-v3_dsrl_2025-12-17_22-49-38_2/.hydra/hydra.yaml deleted file mode 100644 index 6f41cc82e794cd4be1ff8dd59d6265891a977783..0000000000000000000000000000000000000000 --- a/metaworld-dsrl/2025-12-17/metaworld_reach-v3_dsrl_2025-12-17_22-49-38_2/.hydra/hydra.yaml +++ /dev/null @@ -1,154 +0,0 @@ -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: - - 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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