Use portable Balance teacher configs

zero-latency/humanoidbench-balance-simple/small-policy/fasttd3-v1/config.json

@@ -1,260 +0,0 @@
-{
-  "help": false,
-  "algo": "FAST_TD3",
-  "env": "latency_gymnasium",
-  "experiment": "g1_sonic_balance_simple_raw_ramp_0p1s_fasttd3_25000000steps_s1",
-  "train_dir": "/pfs/users/lxy/latency-sensitive-bench/results/humanoidbench_g1_balance_control_comparison_fasttd3_25m/checkpoints",
-  "restart_behavior": "resume",
-  "device": "gpu",
-  "seed": 1,
-  "num_policies": 1,
-  "async_rl": false,
-  "serial_mode": false,
-  "batched_sampling": false,
-  "num_batches_to_accumulate": 2,
-  "worker_num_splits": 1,
-  "policy_workers_per_policy": 1,
-  "max_policy_lag": 300,
-  "num_workers": 128,
-  "num_envs_per_worker": 1,
-  "batch_size": 128,
-  "num_batches_per_epoch": 1,
-  "num_epochs": 1,
-  "rollout": 1,
-  "fasttd3_replay_capacity": 6553600,
-  "fasttd3_replay_batch_size": 32768,
-  "fasttd3_transitions_per_update": 64,
-  "fasttd3_v_min": -250.0,
-  "fasttd3_v_max": 250.0,
-  "fasttd3_actor_action_l2": 0.0,
-  "fasttd3_compile": true,
-  "fasttd3_sonic_decoder_path": null,
-  "recurrence": 1,
-  "shuffle_minibatches": false,
-  "gamma": 0.99,
-  "reward_scale": 1.0,
-  "reward_clip": 1000000000.0,
-  "value_bootstrap": false,
-  "normalize_returns": false,
-  "exploration_loss_coeff": 0.0,
-  "value_loss_coeff": 0.5,
-  "kl_loss_coeff": 0.1,
-  "exploration_loss": "entropy",
-  "gae_lambda": 0.95,
-  "ppo_clip_ratio": 0.1,
-  "ppo_clip_value": 0.2,
-  "with_vtrace": false,
-  "vtrace_rho": 1.0,
-  "vtrace_c": 1.0,
-  "optimizer": "adam",
-  "adam_eps": 1e-06,
-  "adam_beta1": 0.9,
-  "adam_beta2": 0.999,
-  "max_grad_norm": 4.0,
-  "learning_rate": 0.0003,
-  "lr_schedule": "constant",
-  "lr_schedule_kl_threshold": 0.008,
-  "lr_adaptive_min": 1e-06,
-  "lr_adaptive_max": 0.01,
-  "obs_subtract_mean": 0.0,
-  "obs_scale": 1.0,
-  "normalize_input": false,
-  "normalize_input_keys": null,
-  "decorrelate_experience_max_seconds": 0,
-  "decorrelate_envs_on_one_worker": true,
-  "actor_worker_gpus": [],
-  "set_workers_cpu_affinity": true,
-  "force_envs_single_thread": false,
-  "default_niceness": 0,
-  "log_to_file": true,
-  "experiment_summaries_interval": 10,
-  "flush_summaries_interval": 30,
-  "stats_avg": 100,
-  "summaries_use_frameskip": true,
-  "heartbeat_interval": 20,
-  "heartbeat_reporting_interval": 180,
-  "train_for_env_steps": 25000000,
-  "train_for_seconds": 10000000000,
-  "save_every_sec": 60,
-  "keep_checkpoints": 5,
-  "load_checkpoint_kind": "latest",
-  "save_milestones_sec": -1,
-  "save_best_every_sec": 5,
-  "save_best_metric": "reward",
-  "save_best_after": 100000,
-  "benchmark": false,
-  "encoder_mlp_layers": [
-    64,
-    64
-  ],
-  "encoder_conv_architecture": "convnet_simple",
-  "encoder_conv_mlp_layers": [
-    512
-  ],
-  "use_rnn": false,
-  "rnn_size": 512,
-  "rnn_type": "gru",
-  "rnn_num_layers": 1,
-  "decoder_mlp_layers": [],
-  "nonlinearity": "elu",
-  "policy_initialization": "orthogonal",
-  "policy_init_gain": 1.0,
-  "actor_critic_share_weights": true,
-  "adaptive_stddev": false,
-  "continuous_tanh_scale": 0.0,
-  "initial_stddev": 1.0,
-  "use_env_info_cache": false,
-  "env_gpu_actions": false,
-  "env_gpu_observations": true,
-  "env_frameskip": 1,
-  "env_framestack": 1,
-  "pixel_format": "CHW",
-  "use_record_episode_statistics": false,
-  "with_wandb": true,
-  "wandb_user": null,
-  "wandb_project": "latency-sensitive-bench",
-  "wandb_group": "g1-sonic-balance-fasttd3",
-  "wandb_job_type": "sample_factory",
-  "wandb_tags": [
-    "humanoidbench",
-    "g1",
-    "balance",
-    "fasttd3"
-  ],
-  "with_pbt": false,
-  "pbt_mix_policies_in_one_env": true,
-  "pbt_period_env_steps": 5000000,
-  "pbt_start_mutation": 20000000,
-  "pbt_replace_fraction": 0.3,
-  "pbt_mutation_rate": 0.15,
-  "pbt_replace_reward_gap": 0.1,
-  "pbt_replace_reward_gap_absolute": 1e-06,
-  "pbt_optimize_gamma": false,
-  "pbt_target_objective": "true_objective",
-  "pbt_perturb_min": 1.1,
-  "pbt_perturb_max": 1.5,
-  "gym_task_name": "g1_sonic_balance_simple",
-  "gym_env_id": "LatencyBench/G1SonicBalanceSimple-v0",
-  "gym_make_kwargs_json": "{\"render_mode\": null, \"width\": 256, \"height\": 256, \"scene_path\": \"/pfs/users/lxy/latency-sensitive-bench/results/humanoidbench_g1_sonic_assets/assets/sonic_g1/envs/scene_balance_simple.xml\", \"control_mode\": \"raw_body_target\", \"target_velocity_ramp_time_s\": 0.1, \"raw_learn_hands\": true}",
-  "gym_registration_imports_json": "[\"latency_bench.envs.humanoidbench_sonic\"]",
-  "gym_action_space_json": "{\"type\": \"box\", \"labels\": [\"body_0\", \"body_1\", \"body_2\", \"body_3\", \"body_4\", \"body_5\", \"body_6\", \"body_7\", \"body_8\", \"body_9\", \"body_10\", \"body_11\", \"body_12\", \"body_13\", \"body_14\", \"body_15\", \"body_16\", \"body_17\", \"body_18\", \"body_19\", \"body_20\", \"body_21\", \"body_22\", \"body_23\", \"body_24\", \"body_25\", \"body_26\", \"body_27\", \"body_28\", \"hand_0\", \"hand_1\", \"hand_2\", \"hand_3\", \"hand_4\", \"hand_5\", \"hand_6\", \"hand_7\", \"hand_8\", \"hand_9\", \"hand_10\", \"hand_11\", \"hand_12\", \"hand_13\"], \"low\": [-1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0], \"high\": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0], \"dtype\": \"float32\"}",
-  "gym_action_labels_json": null,
-  "gym_action_values_json": null,
-  "gym_noop_action_id": null,
-  "gym_noop_action_json": "[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",
-  "gym_base_prompt": "Keep the G1 humanoid balanced on the support board.",
-  "gym_state_labels_json": "",
-  "env_fps": 50.0,
-  "obs_fps": 50.0,
-  "frame_stack": 1,
-  "export_env_raw_rgb_frames": false,
-  "mode": "train",
-  "latency_type": "zero",
-  "fixed_latency_ms": null,
-  "mean_latency_ms": null,
-  "std_latency_ms": null,
-  "min_latency_ms": null,
-  "max_latency_ms": null,
-  "latency_seed": null,
-  "add_latency_info": false,
-  "max_pending_actions": null,
-  "hold_policy": "hold",
-  "ordering_policy": "issue_order_fifo",
-  "eval_episodes": 1,
-  "eval_parallel_envs": 1,
-  "eval_latency_raw_frame_values": null,
-  "eval_max_steps": 1000,
-  "eval_deterministic": true,
-  "eval_raw_reward": false,
-  "episode_metrics_path": "/pfs/users/lxy/latency-sensitive-bench/results/humanoidbench_g1_balance_control_comparison_fasttd3_25m/checkpoints/g1_sonic_balance_simple_raw_ramp_0p1s_fasttd3_25000000steps_s1/episode_metrics.jsonl",
-  "command_line": "--mode train --algo FAST_TD3 --env latency_gymnasium --experiment g1_sonic_balance_simple_raw_ramp_0p1s_fasttd3_25000000steps_s1 --train_dir /pfs/users/lxy/latency-sensitive-bench/results/humanoidbench_g1_balance_control_comparison_fasttd3_25m/checkpoints --restart_behavior resume --device gpu --actor_worker_gpus --seed 1 --episode_metrics_path /pfs/users/lxy/latency-sensitive-bench/results/humanoidbench_g1_balance_control_comparison_fasttd3_25m/checkpoints/g1_sonic_balance_simple_raw_ramp_0p1s_fasttd3_25000000steps_s1/episode_metrics.jsonl --train_for_env_steps 25000000 --num_workers 128 --num_envs_per_worker 1 --num_policies 1 --batch_size 128 --rollout 1 --recurrence 1 --num_epochs 1 --num_batches_per_epoch 1 --worker_num_splits 1 --max_policy_lag 300 --learning_rate 0.0003 --kl_loss_coeff 0.1 --gamma 0.99 --gae_lambda 0.95 --ppo_clip_ratio 0.1 --ppo_clip_value 0.2 --exploration_loss_coeff 0.0 --reward_scale 1.0 --reward_clip 1000000000.0 --value_loss_coeff 0.5 --max_grad_norm 4.0 --save_every_sec 60 --keep_checkpoints 5 --fasttd3_replay_capacity 6553600 --fasttd3_replay_batch_size 32768 --fasttd3_transitions_per_update 64 --fasttd3_v_min -250.0 --fasttd3_v_max 250.0 --async_rl False --batched_sampling False --use_rnn False --normalize_returns False --normalize_input False --adaptive_stddev False --actor_critic_share_weights True --fasttd3_compile True --encoder_mlp_layers 64 64 --latency-type zero --add-latency-info False --eval-episodes 1 --eval-parallel-envs 1 --eval-max-steps 1000 --eval-deterministic True --with_wandb True --wandb_project latency-sensitive-bench --wandb_group g1-sonic-balance-fasttd3 --wandb_job_type sample_factory --wandb_tags humanoidbench g1 balance fasttd3 --gym-task-name g1_sonic_balance_simple --gym-env-id LatencyBench/G1SonicBalanceSimple-v0 --gym-make-kwargs-json {\"render_mode\": null, \"width\": 256, \"height\": 256, \"scene_path\": \"/pfs/users/lxy/latency-sensitive-bench/results/humanoidbench_g1_sonic_assets/assets/sonic_g1/envs/scene_balance_simple.xml\", \"control_mode\": \"raw_body_target\", \"target_velocity_ramp_time_s\": 0.1, \"raw_learn_hands\": true} --gym-registration-imports-json [\"latency_bench.envs.humanoidbench_sonic\"] --gym-action-space-json {\"type\": \"box\", \"labels\": [\"body_0\", \"body_1\", \"body_2\", \"body_3\", \"body_4\", \"body_5\", \"body_6\", \"body_7\", \"body_8\", \"body_9\", \"body_10\", \"body_11\", \"body_12\", \"body_13\", \"body_14\", \"body_15\", \"body_16\", \"body_17\", \"body_18\", \"body_19\", \"body_20\", \"body_21\", \"body_22\", \"body_23\", \"body_24\", \"body_25\", \"body_26\", \"body_27\", \"body_28\", \"hand_0\", \"hand_1\", \"hand_2\", \"hand_3\", \"hand_4\", \"hand_5\", \"hand_6\", \"hand_7\", \"hand_8\", \"hand_9\", \"hand_10\", \"hand_11\", \"hand_12\", \"hand_13\"], \"low\": [-1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0], \"high\": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0], \"dtype\": \"float32\"} --gym-noop-action-json [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] --gym-base-prompt Keep the G1 humanoid balanced on the support board. --env-fps 50.0 --obs-fps 50.0 --frame-stack 1 --hold-policy hold --ordering-policy issue_order_fifo --use_env_info_cache False",
-  "cli_args": {
-    "algo": "FAST_TD3",
-    "env": "latency_gymnasium",
-    "experiment": "g1_sonic_balance_simple_raw_ramp_0p1s_fasttd3_25000000steps_s1",
-    "train_dir": "/pfs/users/lxy/latency-sensitive-bench/results/humanoidbench_g1_balance_control_comparison_fasttd3_25m/checkpoints",
-    "restart_behavior": "resume",
-    "device": "gpu",
-    "seed": 1,
-    "num_policies": 1,
-    "async_rl": false,
-    "batched_sampling": false,
-    "worker_num_splits": 1,
-    "max_policy_lag": 300,
-    "num_workers": 128,
-    "num_envs_per_worker": 1,
-    "batch_size": 128,
-    "num_batches_per_epoch": 1,
-    "num_epochs": 1,
-    "rollout": 1,
-    "fasttd3_replay_capacity": 6553600,
-    "fasttd3_replay_batch_size": 32768,
-    "fasttd3_transitions_per_update": 64,
-    "fasttd3_v_min": -250.0,
-    "fasttd3_v_max": 250.0,
-    "fasttd3_compile": true,
-    "recurrence": 1,
-    "gamma": 0.99,
-    "reward_scale": 1.0,
-    "reward_clip": 1000000000.0,
-    "normalize_returns": false,
-    "exploration_loss_coeff": 0.0,
-    "value_loss_coeff": 0.5,
-    "kl_loss_coeff": 0.1,
-    "gae_lambda": 0.95,
-    "ppo_clip_ratio": 0.1,
-    "ppo_clip_value": 0.2,
-    "max_grad_norm": 4.0,
-    "learning_rate": 0.0003,
-    "normalize_input": false,
-    "actor_worker_gpus": [],
-    "train_for_env_steps": 25000000,
-    "save_every_sec": 60,
-    "keep_checkpoints": 5,
-    "encoder_mlp_layers": [
-      64,
-      64
-    ],
-    "use_rnn": false,
-    "actor_critic_share_weights": true,
-    "adaptive_stddev": false,
-    "use_env_info_cache": false,
-    "with_wandb": true,
-    "wandb_project": "latency-sensitive-bench",
-    "wandb_group": "g1-sonic-balance-fasttd3",
-    "wandb_job_type": "sample_factory",
-    "wandb_tags": [
-      "humanoidbench",
-      "g1",
-      "balance",
-      "fasttd3"
-    ],
-    "gym_task_name": "g1_sonic_balance_simple",
-    "gym_env_id": "LatencyBench/G1SonicBalanceSimple-v0",
-    "gym_make_kwargs_json": "{\"render_mode\": null, \"width\": 256, \"height\": 256, \"scene_path\": \"/pfs/users/lxy/latency-sensitive-bench/results/humanoidbench_g1_sonic_assets/assets/sonic_g1/envs/scene_balance_simple.xml\", \"control_mode\": \"raw_body_target\", \"target_velocity_ramp_time_s\": 0.1, \"raw_learn_hands\": true}",
-    "gym_registration_imports_json": "[\"latency_bench.envs.humanoidbench_sonic\"]",
-    "gym_action_space_json": "{\"type\": \"box\", \"labels\": [\"body_0\", \"body_1\", \"body_2\", \"body_3\", \"body_4\", \"body_5\", \"body_6\", \"body_7\", \"body_8\", \"body_9\", \"body_10\", \"body_11\", \"body_12\", \"body_13\", \"body_14\", \"body_15\", \"body_16\", \"body_17\", \"body_18\", \"body_19\", \"body_20\", \"body_21\", \"body_22\", \"body_23\", \"body_24\", \"body_25\", \"body_26\", \"body_27\", \"body_28\", \"hand_0\", \"hand_1\", \"hand_2\", \"hand_3\", \"hand_4\", \"hand_5\", \"hand_6\", \"hand_7\", \"hand_8\", \"hand_9\", \"hand_10\", \"hand_11\", \"hand_12\", \"hand_13\"], \"low\": [-1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0], \"high\": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0], \"dtype\": \"float32\"}",
-    "gym_noop_action_json": "[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]",
-    "gym_base_prompt": "Keep the G1 humanoid balanced on the support board.",
-    "env_fps": 50.0,
-    "obs_fps": 50.0,
-    "frame_stack": 1,
-    "mode": "train",
-    "latency_type": "zero",
-    "add_latency_info": false,
-    "hold_policy": "hold",
-    "ordering_policy": "issue_order_fifo",
-    "eval_episodes": 1,
-    "eval_parallel_envs": 1,
-    "eval_max_steps": 1000,
-    "eval_deterministic": true,
-    "episode_metrics_path": "/pfs/users/lxy/latency-sensitive-bench/results/humanoidbench_g1_balance_control_comparison_fasttd3_25m/checkpoints/g1_sonic_balance_simple_raw_ramp_0p1s_fasttd3_25000000steps_s1/episode_metrics.jsonl",
-    "output_dir": "/pfs/users/lxy/latency-sensitive-bench/results/humanoidbench_g1_balance_control_comparison_fasttd3_25m/g1_sonic_balance_simple/raw_ramp_0p1s/train",
-    "wandb_unique_id": "g1_sonic_balance_simple_raw_ramp_0p1s_fasttd3_25000000steps_s1"
-  },
-  "git_hash": "302d1a2c12eacbfb55d0087cf1d4b5c64538f1f8",
-  "git_repo_name": "git@github.com:ZihanWang314/latency-sensitive-bench.git",
-  "eval_env_frameskip": 1,
-  "output_dir": "/pfs/users/lxy/latency-sensitive-bench/results/humanoidbench_g1_balance_control_comparison_fasttd3_25m/g1_sonic_balance_simple/raw_ramp_0p1s/train",
-  "wandb_unique_id": "g1_sonic_balance_simple_raw_ramp_0p1s_fasttd3_25000000steps_s1"
-}

zero-latency/humanoidbench-balance-simple/small-policy/fasttd3-v1/eval.yaml

@@ -1,289 +0,0 @@
-experiment:
-  name: g1_sonic_balance_simple_raw_ramp_0p1s_fasttd3_25000000steps_s1
-  seed: 1
-backend:
-  type: sample_factory
-  algo: FAST_TD3
-  device: gpu
-  train_dir: /pfs/users/lxy/latency-sensitive-bench/results/humanoidbench_g1_balance_control_comparison_fasttd3_25m/checkpoints
-  restart_behavior: resume
-  run_mode: eval
-  actor_worker_gpus: []
-  extra_args:
-  - --load_checkpoint_kind
-  - best
-executor:
-  mode: simulated
-env:
-  name: gymnasium
-  task_name: g1_sonic_balance_simple
-  env_id: LatencyBench/G1SonicBalanceSimple-v0
-  registration_imports:
-  - latency_bench.envs.humanoidbench_sonic
-  make_kwargs:
-    render_mode: rgb_array
-    width: 256
-    height: 256
-    scene_path: /pfs/users/lxy/latency-sensitive-bench/results/humanoidbench_g1_sonic_assets/assets/sonic_g1/envs/scene_balance_simple.xml
-    control_mode: raw_body_target
-    target_velocity_ramp_time_s: 0.1
-    raw_learn_hands: true
-  env_fps: 50.0
-  obs_fps: 50.0
-  frame_stack: 1
-  action_space:
-    type: box
-    labels:
-    - body_0
-    - body_1
-    - body_2
-    - body_3
-    - body_4
-    - body_5
-    - body_6
-    - body_7
-    - body_8
-    - body_9
-    - body_10
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-    - body_20
-    - body_21
-    - body_22
-    - body_23
-    - body_24
-    - body_25
-    - body_26
-    - body_27
-    - body_28
-    - hand_0
-    - hand_1
-    - hand_2
-    - hand_3
-    - hand_4
-    - hand_5
-    - hand_6
-    - hand_7
-    - hand_8
-    - hand_9
-    - hand_10
-    - hand_11
-    - hand_12
-    - hand_13
-    low:
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-    - -1.0
-    - -1.0
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-    - 1.0
-    dtype: float32
-  noop_action:
-  - 0.0
-  - 0.0
-  - 0.0
-  - 0.0
-  - 0.0
-  - 0.0
-  - 0.0
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-  - 0.0
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-  - 0.0
-  base_prompt: Keep the G1 humanoid balanced on the support board.
-latency:
-  method: zero
-  add_latency_info: false
-scheduler:
-  hold_policy: hold
-  ordering_policy: issue_order_fifo
-policy:
-  type: gymnasium_sf
-  checkpoint_kind: best
-  device: cuda
-  deterministic: true
-training:
-  train_for_env_steps: 25000000
-  num_workers: 128
-  num_envs_per_worker: 1
-  worker_num_splits: 1
-  num_policies: 1
-  batch_size: 128
-  rollout: 1
-  recurrence: 1
-  num_epochs: 1
-  num_batches_per_epoch: 1
-  max_policy_lag: 300
-  learning_rate: 0.0003
-  gamma: 0.99
-  gae_lambda: 0.95
-  ppo_clip_ratio: 0.1
-  ppo_clip_value: 0.2
-  value_loss_coeff: 0.5
-  max_grad_norm: 4.0
-  exploration_loss_coeff: 0.0
-  kl_loss_coeff: 0.1
-  async_rl: false
-  batched_sampling: false
-  use_rnn: false
-  encoder_mlp_layers:
-  - 64
-  - 64
-  normalize_input: false
-  normalize_returns: false
-  save_every_sec: 60
-  keep_checkpoints: 5
-  fasttd3_replay_capacity: 6553600
-  fasttd3_replay_batch_size: 32768
-  fasttd3_transitions_per_update: 64
-  fasttd3_compile: true
-  actor_critic_share_weights: true
-  adaptive_stddev: false
-  reward_scale: 1.0
-  reward_clip: 1000000000.0
-  fasttd3_v_min: -250.0
-  fasttd3_v_max: 250.0
-evaluation:
-  eval_episodes: 10
-  eval_parallel_envs: 1
-  eval_max_steps: 1000
-  eval_deterministic: true
-  eval_latency_values:
-  - 0
-logging:
-  output_dir: /pfs/users/lxy/latency-sensitive-bench/results/humanoidbench_g1_balance_control_comparison_fasttd3_25m/g1_sonic_balance_simple/raw_ramp_0p1s/eval_best_l0
-  video:
-    enabled: true
-    num_bins: 10
-  save_step_records: true
-  save_action_records: true
-  save_latency_records: false
-  wandb_project: latency-sensitive-bench
-  wandb_group: g1-sonic-balance-fasttd3
-  wandb_job_type: sample_factory
-  wandb_name: g1_sonic_balance_simple_raw_ramp_0p1s_fasttd3_25000000steps_s1
-  wandb_tags:
-  - humanoidbench
-  - g1
-  - balance
-  - fasttd3

zero-latency/humanoidbench-balance-simple/small-policy/fasttd3-v1/fasttd3_eval.yaml

@@ -0,0 +1,21 @@
+__base__: fasttd3_train.yaml
+
+backend:
+  run_mode: eval
+  extra_args: [--load_checkpoint_kind, best]
+
+policy:
+  type: gymnasium_sf
+  checkpoint_kind: best
+  device: cuda
+  deterministic: true
+
+evaluation:
+  eval_latency_values: [0]
+
+logging:
+  output_dir: outputs/tasks/humanoidbench_balance_simple/eval_best_l0
+  video:
+    enabled: true
+  save_step_records: true
+  save_action_records: true

zero-latency/humanoidbench-balance-simple/small-policy/fasttd3-v1/{train.yaml → fasttd3_train.yaml}

@@ -1,221 +1,99 @@
 experiment:
-  name: g1_sonic_balance_simple_raw_ramp_0p1s_fasttd3_25000000steps_s1
+  name: g1_sonic_balance_simple_raw_ramp_fasttd3_25m_s1
   seed: 1
+
 backend:
   type: sample_factory
   algo: FAST_TD3
   device: gpu
-  train_dir: /pfs/users/lxy/latency-sensitive-bench/results/humanoidbench_g1_balance_control_comparison_fasttd3_25m/checkpoints
-  restart_behavior: resume
+  train_dir: outputs/tasks/humanoidbench_balance_simple/checkpoints
+  restart_behavior: overwrite
   run_mode: train
   actor_worker_gpus: []
+
 executor:
   mode: simulated
+
 env:
   name: gymnasium
   task_name: g1_sonic_balance_simple
   env_id: LatencyBench/G1SonicBalanceSimple-v0
   registration_imports:
-  - latency_bench.envs.humanoidbench_sonic
+    - latency_bench.envs.humanoidbench_sonic
   make_kwargs:
     render_mode: null
     width: 256
     height: 256
-    scene_path: /pfs/users/lxy/latency-sensitive-bench/results/humanoidbench_g1_sonic_assets/assets/sonic_g1/envs/scene_balance_simple.xml
+    scene_path: results/humanoidbench_g1_sonic_assets/assets/sonic_g1/envs/scene_balance_simple.xml
     control_mode: raw_body_target
     target_velocity_ramp_time_s: 0.1
     raw_learn_hands: true
-  env_fps: 50.0
-  obs_fps: 50.0
+  env_fps: 50
+  obs_fps: 50
   frame_stack: 1
   action_space:
     type: box
-    labels:
-    - body_0
-    - body_1
-    - body_2
-    - body_3
-    - body_4
-    - body_5
-    - body_6
-    - body_7
-    - body_8
-    - body_9
-    - body_10
-    - body_11
-    - body_12
-    - body_13
-    - body_14
-    - body_15
-    - body_16
-    - body_17
-    - body_18
-    - body_19
-    - body_20
-    - body_21
-    - body_22
-    - body_23
-    - body_24
-    - body_25
-    - body_26
-    - body_27
-    - body_28
-    - hand_0
-    - hand_1
-    - hand_2
-    - hand_3
-    - hand_4
-    - hand_5
-    - hand_6
-    - hand_7
-    - hand_8
-    - hand_9
-    - hand_10
-    - hand_11
-    - hand_12
-    - hand_13
-    low:
-    - -1.0
-    - -1.0
-    - -1.0
-    - -1.0
-    - -1.0
-    - -1.0
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-    - -1.0
-    - -1.0
-    - -1.0
-    - -1.0
-    - -1.0
-    - -1.0
-    high:
-    - 1.0
-    - 1.0
-    - 1.0
-    - 1.0
-    - 1.0
-    - 1.0
-    - 1.0
-    - 1.0
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-    - 1.0
-    - 1.0
-    - 1.0
-    - 1.0
-    - 1.0
-    - 1.0
-    - 1.0
+    labels: &g1_actions
+      - body_0
+      - body_1
+      - body_2
+      - body_3
+      - body_4
+      - body_5
+      - body_6
+      - body_7
+      - body_8
+      - body_9
+      - body_10
+      - body_11
+      - body_12
+      - body_13
+      - body_14
+      - body_15
+      - body_16
+      - body_17
+      - body_18
+      - body_19
+      - body_20
+      - body_21
+      - body_22
+      - body_23
+      - body_24
+      - body_25
+      - body_26
+      - body_27
+      - body_28
+      - hand_0
+      - hand_1
+      - hand_2
+      - hand_3
+      - hand_4
+      - hand_5
+      - hand_6
+      - hand_7
+      - hand_8
+      - hand_9
+      - hand_10
+      - hand_11
+      - hand_12
+      - hand_13
+    low: &g1_action_bounds [-1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0]
+    high: *g1_action_bounds
     dtype: float32
-  noop_action:
-  - 0.0
-  - 0.0
-  - 0.0
-  - 0.0
-  - 0.0
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+  noop_action: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
   base_prompt: Keep the G1 humanoid balanced on the support board.
+
 latency:
   method: zero
   add_latency_info: false
+
 scheduler:
   hold_policy: hold
   ordering_policy: issue_order_fifo
+
 policy:
   type: random
+
 training:
   train_for_env_steps: 25000000
   num_workers: 128
@@ -240,9 +118,7 @@ training:
   async_rl: false
   batched_sampling: false
   use_rnn: false
-  encoder_mlp_layers:
-  - 64
-  - 64
+  encoder_mlp_layers: [64, 64]
   normalize_input: false
   normalize_returns: false
   save_every_sec: 60
@@ -257,14 +133,16 @@ training:
   reward_clip: 1000000000.0
   fasttd3_v_min: -250.0
   fasttd3_v_max: 250.0
+
 evaluation:
   eval_interval_steps: null
-  eval_episodes: 1
+  eval_episodes: 10
   eval_parallel_envs: 1
   eval_max_steps: 1000
   eval_deterministic: true
+
 logging:
-  output_dir: /pfs/users/lxy/latency-sensitive-bench/results/humanoidbench_g1_balance_control_comparison_fasttd3_25m/g1_sonic_balance_simple/raw_ramp_0p1s/train
+  output_dir: outputs/tasks/humanoidbench_balance_simple/train
   video:
     enabled: false
     num_bins: 1
@@ -274,9 +152,5 @@ logging:
   wandb_project: latency-sensitive-bench
   wandb_group: g1-sonic-balance-fasttd3
   wandb_job_type: sample_factory
-  wandb_name: g1_sonic_balance_simple_raw_ramp_0p1s_fasttd3_25000000steps_s1
-  wandb_tags:
-  - humanoidbench
-  - g1
-  - balance
-  - fasttd3
+  wandb_name: g1_sonic_balance_simple_raw_ramp_fasttd3_25m_s1
+  wandb_tags: [humanoidbench, g1, balance, fasttd3]