actaug: simulator action-augmentation generation code, Table-2 eval protocol, raw dumps of the 256 prio episodes
bd08baf verified | # Constrained pipeline (the sim_action_aug algorithm, ROLLOUT_REPORT sec. 3): | |
| # arm joints 1-6 + mobile base + torso are PINNED to the recorded MuJoCo state | |
| # path for the whole episode; the policy owns ONLY the wrist (joint-7 servo | |
| # around a searched dj7_init offset) and the gripper during the grasp window. | |
| # Transport = relative replay with dj7 frozen + recorded opening schedule. | |
| mode: constrained | |
| # perturbation (NOTE: the pinned arm cannot chase a translated object -- this | |
| # mode suits yaw-dominant perturbations and small translations) | |
| n_perturbs: 5 | |
| rot_deg: 60.0 | |
| trans_m: 0.02 | |
| trans_min_m: 0.0 | |
| seed: 7 | |
| n_samples: 3 # N policy samples per (perturbation, dj7_init) cell | |
| port: 8801 | |
| save: success | |
| constrained: | |
| dj7_init_deg: [0, 30, -30, 60, -60, 90, -90] # searched wrist offsets | |
| pre_buffer: 4 # policy inference starts at grasp_t - pre_buffer (frames) | |
| k_post: 12 # ... and keeps control this many frames after grasp_t | |
| replan: 8 # re-query the policy every N control steps | |
| # WHICH joints the policy controls (1-indexed Franka arm joints). Joints not | |
| # listed stay pinned to the recording. The GRIPPER is always the policy's | |
| # (unless gripper_mode: recorded). | |
| policy_joints: [6, 7] | |
| step_cap: 0.05 # rad per control step, every servoed joint | |
| servo_caps: {6: 0.30, 7: 0.60} # total authority per joint (rad) | |
| servo_cap_default: 0.30 # for listed joints missing from servo_caps | |
| j7_total_cap: 3.14159 # |dj7_init + servo| (joint 7 only) | |
| gripper_mode: threshold # bit | threshold | continuous | |
| grip_tau: 0.35 # threshold mode: latch full close once policy asks >= tau | |
| settle_frames: 30 | |
| qvel_mode: finitediff # finitediff | zero (pinned-joint qvel each substep) | |
| # rel-6D weld (sim_action_aug simfix): weld the object rigidly to the eef once | |
| # the grasp is real (both pads + lift >= weld_lift_m + commanded closed); drop | |
| # it when the gripper is commanded open. Without it the pinned-arm carry slips | |
| # (~33% ceiling in the old robocasa pin-sweep). | |
| rel6d: true | |
| weld_lift_m: 0.004 # engage EARLY: a 15mm gate let the object sag ~19mm in | |
| # the jaw and catch the cabinet-shelf edge (ep0 finding) | |
| weld_solref: "0.005 1" # stiff -- contact must not stretch the weld | |
| weld_open_frac: 0.5 | |
| weld_open_floor: 0.10 | |