Add files using upload-large-folder tool

halfcheetah_medium_expert_sparse/diffusion_123/scheduler/scheduler_config.json

@@ -0,0 +1,19 @@
+{
+  "_class_name": "DDIMScheduler",
+  "_diffusers_version": "0.36.0",
+  "beta_end": 0.02,
+  "beta_schedule": "linear",
+  "beta_start": 0.0001,
+  "clip_sample": true,
+  "clip_sample_range": 1.0,
+  "dynamic_thresholding_ratio": 0.995,
+  "num_train_timesteps": 50000,
+  "prediction_type": "epsilon",
+  "rescale_betas_zero_snr": false,
+  "sample_max_value": 1.0,
+  "set_alpha_to_one": true,
+  "steps_offset": 0,
+  "thresholding": false,
+  "timestep_spacing": "leading",
+  "trained_betas": null
+}

halfcheetah_medium_expert_sparse/diffusion_123/used_config.yaml

@@ -0,0 +1,21 @@
+npz: /public/d4rl/sparse_datasets/diffusion_processed/halfcheetah_medium_expert_sparse_72.5_train.npz
+out: /public/gormpo/models/halfcheetah_medium_expert_sparse_3/diffusion
+epochs: 100
+batch: 512
+lr: 0.0002
+wd: 0.0
+timesteps: 50000
+checkpoint_every_epochs: 10
+seed: 0
+device: cuda
+model: mlp
+hidden: 512
+time_emb: 128
+layers: 3
+dropout: 0.0
+wandb: false
+wandb_project: GORMPO
+wandb_entity: jhhuang_chloe
+wandb_run: unconditional_ddim_mlp_halfcheetah_medium_expert_sparse_72.5
+log_every: 100
+samples_every: 1

halfcheetah_medium_expert_sparse/diffusion_456/scheduler/scheduler_config.json

@@ -0,0 +1,19 @@
+{
+  "_class_name": "DDIMScheduler",
+  "_diffusers_version": "0.36.0",
+  "beta_end": 0.02,
+  "beta_schedule": "linear",
+  "beta_start": 0.0001,
+  "clip_sample": true,
+  "clip_sample_range": 1.0,
+  "dynamic_thresholding_ratio": 0.995,
+  "num_train_timesteps": 50000,
+  "prediction_type": "epsilon",
+  "rescale_betas_zero_snr": false,
+  "sample_max_value": 1.0,
+  "set_alpha_to_one": true,
+  "steps_offset": 0,
+  "thresholding": false,
+  "timestep_spacing": "leading",
+  "trained_betas": null
+}

halfcheetah_medium_expert_sparse/diffusion_456/used_config.yaml

@@ -0,0 +1,21 @@
+npz: /public/d4rl/sparse_datasets/diffusion_processed/halfcheetah_medium_expert_sparse_72.5_train.npz
+out: /public/gormpo/models/halfcheetah_medium_expert_sparse_3/diffusion
+epochs: 100
+batch: 512
+lr: 0.0002
+wd: 0.0
+timesteps: 50000
+checkpoint_every_epochs: 10
+seed: 0
+device: cuda
+model: mlp
+hidden: 512
+time_emb: 128
+layers: 3
+dropout: 0.0
+wandb: false
+wandb_project: GORMPO
+wandb_entity: jhhuang_chloe
+wandb_run: unconditional_ddim_mlp_halfcheetah_medium_expert_sparse_72.5
+log_every: 100
+samples_every: 1

halfcheetah_medium_expert_sparse/mobile_based/neuralODE/seed_123&timestamp_26-0506-193213/checkpoint/policy.pth

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e994b9bae94794c02cfefafc9580ae00a414a0895eff669d26a437ce038e36ac
+size 1459666

halfcheetah_medium_expert_sparse/mobile_based/neuralODE/seed_123&timestamp_26-0506-193213/model/dynamics.pth

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eed06b17da82e14ddd88b14cda8f4646029c68852f70b721c08d7ff626346ba9
+size 7435052

halfcheetah_medium_expert_sparse/mobile_based/neuralODE/seed_123&timestamp_26-0506-193213/model/mu.npy

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2050ca9e9c5a2b446c05f0f06da81a2a3c08b258f520c8581b742e5edae5e1f
+size 220

halfcheetah_medium_expert_sparse/mobile_based/neuralODE/seed_123&timestamp_26-0506-193213/model/policy.pth

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e994b9bae94794c02cfefafc9580ae00a414a0895eff669d26a437ce038e36ac
+size 1459666

halfcheetah_medium_expert_sparse/mobile_based/neuralODE/seed_123&timestamp_26-0506-193213/model/std.npy

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f34a2b6a9ea2b47097ce26e54fa7a4ad7a69196f7995bb6ea1c42783a6b230d
+size 220

halfcheetah_medium_expert_sparse/mobile_based/neuralODE/seed_123&timestamp_26-0506-193213/record/tb/events.out.tfevents.1778095935.aysin.1232333.0

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f6a4821e56128649c9f1f98cfe0dfe1fc04fd2fb8bc9e31ee0a8a38737f582e2
+size 53332

halfcheetah_medium_expert_sparse/mobile_based/neuralODE/seed_456&timestamp_26-0506-193213/checkpoint/policy.pth

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee22cda2c4832565c8e194c2eb6f05a33c4d34cd722ed414328866058a2f330c
+size 1459666

halfcheetah_medium_expert_sparse/mobile_based/neuralODE/seed_456&timestamp_26-0506-193213/model/dynamics.pth

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a0257a72ba4f22219a6b9614b0f86c90ac99527bbff2086dee89d9e6ab570292
+size 7435052

halfcheetah_medium_expert_sparse/mobile_based/neuralODE/seed_456&timestamp_26-0506-193213/model/mu.npy

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:30bd2b9e32a28f3d98dd1ab014db7c4a9b2577454213dc1874a070d93fd9db6a
+size 220

halfcheetah_medium_expert_sparse/mobile_based/neuralODE/seed_456&timestamp_26-0506-193213/model/policy.pth

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee22cda2c4832565c8e194c2eb6f05a33c4d34cd722ed414328866058a2f330c
+size 1459666

halfcheetah_medium_expert_sparse/mobile_based/neuralODE/seed_456&timestamp_26-0506-193213/model/std.npy

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:99eb0442dfec507acdf16ce545c8aa3fd2f9d9a9ba841f2477f7362c855c9dda
+size 220

halfcheetah_medium_expert_sparse/mobile_based/neuralODE/seed_456&timestamp_26-0506-193213/record/tb/events.out.tfevents.1778095935.aysin.1232334.0

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1eddcfa8ff05a2ddafc711e7a4a20220f1ba6dda0b1fdaa4ba3abf362c608e4e
+size 53332

halfcheetah_medium_expert_sparse/mobile_based/vae/seed_123&timestamp_26-0318-122101/record/hyper_param.json

@@ -0,0 +1 @@
+{"config": "config_gormpo/halfcheetah_medium_expert_72.5_vae.yaml", "algo_name": "mobile_gormpo", "task": "halfcheetah-medium-expert-v2", "seed": 123, "device": "cuda:7", "dataset_path": "/public/d4rl/sparse_datasets/halfcheetah_medium_expert_sparse_72.5.pkl", "dynamics_path": "log/halfcheetah-medium-expert-v2/mobile&penalty_coef=1.0&rollout_length=5/seed_123&timestamp_26-0117-063103/model", "reward_penalty_coef": 0.3, "classifier_model_name": "/public/gormpo/models/halfcheetah_medium_expert_sparse_3/vae", "use_wandb": true, "wandb_project": "mobile-gormpo", "wandb_entity": null, "domain": "gym", "actor_lr": 0.0001, "critic_lr": 0.0003, "hidden_dims": [256, 256], "gamma": 0.99, "tau": 0.005, "alpha": 0.2, "auto_alpha": true, "target_entropy": -6.0, "alpha_lr": 0.0001, "deterministic_backup": true, "max_q_backup": false, "norm_reward": false, "num_q_ensemble": 2, "dynamics_lr": 0.001, "dynamics_max_epochs": null, "max_epochs_since_update": 5, "dynamics_hidden_dims": [200, 200, 200, 200], "dynamics_weight_decay": [2.5e-05, 5e-05, 7.5e-05, 7.5e-05, 0.0001], "n_ensemble": 7, "n_elites": 5, "rollout_freq": 1000, "rollout_batch_size": 50000, "rollout_length": 5, "penalty_coef": 1.0, "num_samples": 10, "model_retain_epochs": 5, "real_ratio": 0.5, "load_dynamics_path": null, "epoch": 3000, "step_per_epoch": 1000, "eval_episodes": 100, "batch_size": 256, "lr_scheduler": true, "penalty_type": "tanh", "density_model": "vae", "target_dim": 23, "obs_shape": [17], "action_dim": 6.0, "max_action": 1.0, "classifier_type": "vae"}

halfcheetah_medium_expert_sparse/mobile_based/vae/seed_123&timestamp_26-0318-122101/record/policy_training_progress.csv

@@ -0,0 +1,61 @@
+alpha,eval/episode_length,eval/episode_length_std,eval/normalized_episode_reward,eval/normalized_episode_reward_std,loss/actor,loss/alpha,loss/critic,penalty/lcb_mean,penalty/lcb_std,rollout_info/dynamics_penalty_mean,rollout_info/dynamics_penalty_std,rollout_info/num_transitions,rollout_info/reward_mean,timestep
+0.5092469802635933,1000.0,0.0,24.629347813300125,19.518849771893695,-391.53271965292635,-0.3510507357736476,262.8571791229075,2.5625963130329383,3.767872209977699,0.0002686260199705697,0.015737345752857363,250000.0,8.846709080414788,50000
+0.6527629373753148,1000.0,0.0,38.212233130102405,23.67470807924101,-564.6794865393148,0.0031885760586149174,263.80415342834755,2.966348229565544,3.820940241310573,0.0002613913020855561,0.015585292203644933,250000.0,8.898805669889386,100000
+0.6370071728134133,1000.0,0.0,48.82404440594748,27.2663357156609,-699.8560675768955,-0.000939639359815022,217.6140987976068,2.808166308174163,3.7058655985116986,0.0002673737812531555,0.015683450548321286,250000.0,8.913125478271056,150000
+0.5958395690405418,1000.0,0.0,59.95464701207446,30.430627403034332,-781.0621136291578,-0.003335226206947145,183.80737370109395,2.582253915317034,3.5792016115832475,0.0002753947517600656,0.015929066341371086,250000.0,8.91688371389822,200000
+0.5398187292504347,1000.0,0.0,95.4240952408114,7.54096703993701,-844.7337557055607,-0.0038306241574976594,149.68339627235355,2.3124439065337357,3.3240350944948247,0.00025982423034440736,0.01540499730944121,250000.0,8.919448626640257,250000
+0.49855134805857587,1000.0,0.0,93.42476947144715,14.78045170274388,-874.9344382751542,-0.0016028708299715001,132.25739724449184,2.1540992547607547,3.1892134085130803,0.0002620361300269512,0.01543564701648936,250000.0,8.918959752401292,300000
+0.47308774027585765,1000.0,0.0,94.84682001207038,11.531269386410777,-899.9889500769067,-0.0020756243516504634,114.45493129150479,2.021582301061118,2.997146744881902,0.0002822366605207138,0.01610384267849952,250000.0,8.92210857379583,350000
+0.45334743123769927,1000.0,0.0,96.13239191016321,10.966061704916699,-917.1682233593713,-0.0020140857713855623,108.66677431762595,1.955712994830607,2.937181026978533,0.00026847482339069253,0.01575591475749518,250000.0,8.9275302420865,400000
+0.43459253629506067,1000.0,0.0,88.51066885463645,11.419089294280962,-921.1836921374509,-0.001520754339992988,109.49712723197844,1.941959081735631,3.0021115649438093,0.00026129383879810563,0.015468635611080033,250000.0,8.925707797067021,450000
+0.42281401423275955,1000.0,0.0,93.72451007916095,15.705907104102067,-930.268281705314,-0.0006043388151377517,105.42440392856508,1.8966981602144215,2.997290112373878,0.00026799133132429426,0.01566225240359512,250000.0,8.931304856322333,500000
+0.41565268611968137,1000.0,0.0,95.82930041702262,10.959222227944526,-939.7892551916535,0.001014108774177745,97.72837634662686,1.8530126563811276,2.9102312556541188,0.00028059389917809525,0.0161335497338732,250000.0,8.938001854219626,550000
+0.403699525281787,1000.0,0.0,97.4591168792015,11.12827746675573,-941.4984004772929,-0.0028776265700533794,96.8184091168211,1.8335422146797196,2.8828238867652276,0.0002562217196242512,0.015393209471174209,250000.0,8.935018243661512,600000
+0.40038901812494226,1000.0,0.0,94.96110033673025,17.949469310511404,-948.1876625109848,0.0005773089028894963,94.53401350898889,1.80844944916006,2.8675296164143367,0.0002749870213215054,0.015992079084339934,250000.0,8.937257690536011,650000
+0.39274757110118674,1000.0,0.0,92.29562846019238,3.499274804450604,-951.2909814514217,-0.0005566104005184215,92.76841828456963,1.7957892867732022,2.836012406831969,0.00027108345687158406,0.015799955608827233,250000.0,8.937757369909876,700000
+0.389827766659858,1000.0,0.0,93.27142911371332,12.21971715691788,-949.7004533129882,0.0007864895363897137,96.2774382466112,1.8169583765768917,2.9379520659124148,0.0002592641217275336,0.01537951756176212,250000.0,8.934994838370647,750000
+0.3873793018186095,1000.0,0.0,99.57220447166313,3.1961806044724166,-953.4410011035136,-0.0035501475371606545,91.40547734802188,1.774387276306171,2.86929707873105,0.0002706885949664563,0.015832144690386303,250000.0,8.93855000469403,800000
+0.38471447335720155,1000.0,0.0,87.68188763306206,21.07405692242984,-956.6371949560553,0.0009701544612832397,89.08035498138554,1.7566554062581046,2.8114554783082246,0.0002874510824891253,0.01631203747703495,250000.0,8.936611195193453,850000
+0.3806352545058762,1000.0,0.0,100.10093573035357,3.4917134494695543,-957.5414286181625,-0.0007985308922454992,87.61352699310261,1.748477064661977,2.776786977701143,0.00025718608662057667,0.015365792494077702,250000.0,8.939201683804267,900000
+0.38154172630667543,1000.0,0.0,95.44964899313464,16.585732322217133,-960.2676170532234,-0.0007606147248297722,87.63117334728229,1.7454240017390164,2.815399002690307,0.000292982289457023,0.01644311654077595,250000.0,8.94052041837362,950000
+0.37445152921557834,1000.0,0.0,99.13131872730918,3.259099769861265,-961.8012955236858,-0.0009437922016344856,84.39130285297284,1.7290673203635312,2.7612041790270547,0.0002594168907158636,0.015432914113628777,250000.0,8.942594293878416,1000000
+0.37569733042239184,1000.0,0.0,89.75515789155683,3.440866601800554,-962.6348215039008,0.0019754633665643134,86.93422994354196,1.7393999909544062,2.813293354643587,0.0002754563929836823,0.015920476934240587,250000.0,8.943844685655767,1050000
+0.37159930024266263,1000.0,0.0,100.26720007643763,7.616258556624543,-967.0285999304235,-0.001073434407897326,87.44750515743455,1.7255004037714023,2.8110152709841536,0.00025055761501098967,0.015182610868569335,250000.0,8.940876409247926,1100000
+0.37158364373862507,1000.0,0.0,95.90657705736105,16.259805674845023,-968.0295109265234,0.000443393495194618,85.74483168529495,1.7147031356000912,2.797777240048633,0.00026244359679590903,0.015535668259442444,250000.0,8.945642888964745,1150000
+0.37609793911039713,1000.0,0.0,99.50466986142644,6.206720762047125,-969.8003414916981,0.00039614921707660115,85.0706030209349,1.721641372313505,2.7998586848974445,0.00025801628058267766,0.015366514258615958,250000.0,8.946568332606994,1200000
+0.3745809584665332,1000.0,0.0,89.45540289679663,3.179700745136054,-969.4635332311957,-0.0008234431469626806,88.27823232814912,1.7288348467397652,2.84143365431312,0.0002620714248055964,0.015568816468706245,250000.0,8.946876914143084,1250000
+0.3670649679613075,1000.0,0.0,87.32045293968301,20.697619128863938,-969.6485908142155,-0.0017295316736400358,87.21440611545637,1.7086631653618676,2.8325245889341413,0.00026587313051810145,0.015607949455669158,250000.0,8.945094752026062,1300000
+0.369560746749639,1000.0,0.0,84.53803284590713,3.3577851181560305,-969.3295425036619,0.00012569334514439006,92.55852521427212,1.7351980210065865,2.930473705533757,0.00028181787016399193,0.01611279842151374,250000.0,8.946349636450858,1350000
+0.36881691627919677,1000.0,0.0,99.36416446724839,3.2891403540972073,-974.4540226391625,0.0026096314236893777,81.2455416074734,1.6780156922840965,2.7424247091782092,0.0002624197513008489,0.015493307241601162,250000.0,8.943262706037116,1400000
+0.36690922595738945,1000.0,0.0,91.84137247985157,22.25548598957564,-975.0353395263721,-0.0013666014960593852,88.35899591781694,1.7044666791093503,2.883514201369283,0.0002664392301695608,0.01570364457371398,250000.0,8.942178906223317,1450000
+0.3658819957047664,1000.0,0.0,102.03265957888574,3.4581626999636814,-976.8407187890668,0.000147561497725555,84.48453481414612,1.6915072344636974,2.8080927619278366,0.00026341131443548954,0.0155511594168024,250000.0,8.94193608099886,1500000
+0.3608538858109684,1000.0,0.0,101.17235156029089,2.885420555712861,-979.651040089108,-0.0009937367946282073,79.689051803894,1.6555585090327194,2.721372674504514,0.00028917519389960923,0.01630001352237772,250000.0,8.947059865466045,1550000
+0.3601143175500636,1000.0,0.0,100.53001185826282,3.2530510291189243,-981.6483123669487,-0.0006989672433398476,79.98182650020657,1.660094534152742,2.7344276479053353,0.0002696294486910104,0.01575108752134365,250000.0,8.949296170586955,1600000
+0.35679382735013937,1000.0,0.0,99.05220565406005,14.342052903241331,-982.1431392212081,5.035311970861147e-05,78.84725124290506,1.6455271623921266,2.7209143816768995,0.0002733866111446915,0.015805901912365642,250000.0,8.9493658631614,1650000
+0.3553304526627029,1000.0,0.0,98.47448684737516,3.073399867328371,-985.2654833630397,-0.0005580293138511348,82.90607525318089,1.6627190642571525,2.8101791279613524,0.0002493634200066328,0.015181193199882053,250000.0,8.945646961550572,1700000
+0.35743159500598853,1000.0,0.0,101.1173681017108,7.936719320663686,-980.6246439074747,0.0030050891544297523,106.93114810176907,1.7311189587056561,3.2498392102813995,0.0002692146257058997,0.015747990124443743,250000.0,8.947747849517896,1750000
+0.35321415485859325,1000.0,0.0,96.44531761625143,14.686136373272124,-981.9106149658195,-0.00366703940249978,79.18765295147003,1.6310848901200174,2.742378327864349,0.0002532035413428769,0.01518490750936948,250000.0,8.943943468910955,1800000
+0.35277950372874994,1000.0,0.0,103.26165265105803,10.587368248046069,-986.9761394751013,0.0011702385163493403,78.81689803146351,1.6317746647739486,2.73014716366059,0.0002467069366466999,0.015026085733064597,250000.0,8.948493247594222,1850000
+0.3511863115727893,1000.0,0.0,102.5241771461319,5.986285594501516,-987.61567296021,-0.0008805555361695579,80.40339624912299,1.6401674297070579,2.7858417784034897,0.00025936937966179095,0.015416494840033657,250000.0,8.947724166911858,1900000
+0.34818156589090854,1000.0,0.0,99.10777156151774,3.3508954535262268,-988.0049739209026,0.0008517224527895561,80.88876440227409,1.6292560636127056,2.7860337449086305,0.00026161291166514153,0.01553642860382928,250000.0,8.955366155430072,1950000
+0.351891207703952,1000.0,0.0,101.23113561144581,3.1594000665726636,-988.57017766601,0.0005381212700716952,81.7297975505831,1.6348028984260545,2.812544731913822,0.00027940330020368077,0.016058496997466375,250000.0,8.94786487071171,2000000
+0.3515281836354747,1000.0,0.0,100.90270151509246,3.144958729541134,-991.9383725512745,-0.0007854327745549648,78.12406625793386,1.636618301517964,2.7406152844822014,0.0002771883332521467,0.01597388870234079,250000.0,8.955390349000522,2050000
+0.34776497107208115,1000.0,0.0,102.2336938983852,12.830838433594927,-989.9206464782693,-0.00012112556530160292,85.53602380027665,1.6334023479962463,2.865545720994469,0.0002829117865410447,0.016133562597951248,250000.0,8.949288647724538,2100000
+0.3511892946058476,1000.0,0.0,97.33220207151454,3.373922154018606,-996.9765675158644,0.0006521848041005186,78.18689194583824,1.6282980061102,2.7642470647930972,0.00025812384904434906,0.015406462970212545,250000.0,8.958068186436526,2150000
+0.3568998014259306,1000.0,0.0,105.53604830398832,3.3904178929629643,-1000.1504632958986,0.000324757813159394,75.60282242775088,1.6254840306234128,2.6914281588744453,0.0002773781937360391,0.016035136025691017,250000.0,8.956011956594525,2200000
+0.3512102697205556,1000.0,0.0,99.26754318617128,3.4859658580011033,-998.7439924145514,-0.00017457223176954971,78.52902694854667,1.629067773880957,2.7433292569339223,0.0002798138747313711,0.016077141587736925,250000.0,8.955655879844844,2250000
+0.3536135471886368,1000.0,0.0,103.90228913484927,4.843266343885739,-1000.6653563830563,0.0009100512131303503,80.47583624965667,1.6436530286121436,2.7941910900902855,0.0002537251138340683,0.01534723215946449,250000.0,8.95741919306696,2300000
+0.3559289218091972,1000.0,0.0,103.43149259123739,11.808496452450507,-1001.7355634570379,-0.00019033085340634231,77.30257212200014,1.6287658619463268,2.7102024199700065,0.0002745414250689639,0.015934972607203394,250000.0,8.95274141682103,2350000
+0.35610892860769816,1000.0,0.0,101.0793371090255,3.538612221308485,-1003.7001866674728,-0.00012448781253770902,79.43949013763466,1.6509206805813401,2.790842116451273,0.00026159099354773776,0.015463198526209046,250000.0,8.956137044965105,2400000
+0.35694666972935296,1000.0,0.0,104.01599225435095,3.4077651967107983,-1004.0826767846673,0.000958958414429824,78.6490224240102,1.6446657089483756,2.761545264197605,0.000258017961518597,0.015405246462452234,250000.0,8.954672113514873,2450000
+0.3514931975454103,1000.0,0.0,104.23572679991351,3.1684965658448654,-1000.1399868957661,9.049817304130634e-05,85.4437689973841,1.6548947375142729,2.895442944284675,0.00026397256277091793,0.015658569461644147,250000.0,8.95015714928451,2500000
+0.3608373056596512,1000.0,0.0,104.35837260589031,7.504831425947543,-1004.2020517590252,0.0003565892244875328,80.23254651145841,1.660796654505728,2.783051377922334,0.00027312200755454596,0.01582215901682368,250000.0,8.96135434355157,2550000
+0.3610399420595155,1000.0,0.0,104.86710293852238,3.6789431830576023,-1006.6299072106954,-0.0025693858255259844,80.13818157890246,1.6665354282927438,2.830419885171653,0.000277750745511297,0.015938909719114075,250000.0,8.954786585674448,2600000
+0.3588295842528288,1000.0,0.0,105.44904678323562,3.281825738091674,-1005.2663296606446,0.0035302057293243923,78.33680464572994,1.6587072489666932,2.760274499213727,0.00028426545141022644,0.016248798186550867,250000.0,8.955758920136908,2650000
+0.36694890304208216,1000.0,0.0,105.09124098720326,3.0960993059945383,-1008.0497101477004,-0.0012927120116166943,81.51231284919675,1.6872004854297404,2.840375518455517,0.0002607781951724458,0.015449214463560524,250000.0,8.95900898430139,2700000
+0.3665212912297264,1000.0,0.0,105.02582733450446,3.149644267524512,-1007.219318231202,0.0014810661780648169,80.66616152191136,1.6787915455126698,2.8092141388583203,0.0002677626689758897,0.015627171041987596,250000.0,8.958538560070002,2750000
+0.3683182497352334,1000.0,0.0,103.97707546050643,10.35768904247259,-1007.4769229162505,-0.0009667522654123813,80.87263077186668,1.6909121167826453,2.8419860125577947,0.00027612106655818414,0.01591201237975903,250000.0,8.956427569806149,2800000
+0.3677936782032261,1000.0,0.0,104.46155326472694,9.95476054259123,-1007.38281293579,0.0013983167842775664,82.16664796508857,1.6901263534605506,2.8366580925094915,0.00025922229648251067,0.01537113922552623,250000.0,8.96011528975518,2850000
+0.3675041493314437,1000.0,0.0,103.29568292295322,14.296181563248478,-1007.2012369531269,-0.001884142428729669,80.99583232795739,1.6996495147204214,2.83881476768015,0.00025442667235967237,0.015291825908629972,250000.0,8.960330453918132,2900000
+0.3679523017722341,1000.0,0.0,104.95891482361148,10.724498936415417,-1007.8364745434445,0.0005529253545775871,82.8292617155843,1.7040991817522044,2.863277511118616,0.0002658576593628525,0.015617019828886962,250000.0,8.95891668840298,2950000
+0.36587727361202205,1000.0,0.0,105.34000539716335,6.840693887546066,-1007.4316909814428,0.00047597424887119963,82.41604610893272,1.6986213404917672,2.874082561496453,0.00025901357166163615,0.015401370073983234,250000.0,8.96137631700046,3000000

halfcheetah_medium_expert_sparse/mobile_based/vae/seed_456&timestamp_26-0320-012638/model/mu.npy

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:30bd2b9e32a28f3d98dd1ab014db7c4a9b2577454213dc1874a070d93fd9db6a
+size 220

walker2d_medium_expert_sparse/diffusion_123/scheduler/scheduler_config.json

@@ -0,0 +1,19 @@
+{
+  "_class_name": "DDIMScheduler",
+  "_diffusers_version": "0.36.0",
+  "beta_end": 0.02,
+  "beta_schedule": "linear",
+  "beta_start": 0.0001,
+  "clip_sample": true,
+  "clip_sample_range": 1.0,
+  "dynamic_thresholding_ratio": 0.995,
+  "num_train_timesteps": 50000,
+  "prediction_type": "epsilon",
+  "rescale_betas_zero_snr": false,
+  "sample_max_value": 1.0,
+  "set_alpha_to_one": true,
+  "steps_offset": 0,
+  "thresholding": false,
+  "timestep_spacing": "leading",
+  "trained_betas": null
+}

walker2d_medium_expert_sparse/diffusion_123/used_config.yaml

@@ -0,0 +1,21 @@
+npz: /public/d4rl/sparse_datasets/diffusion_processed/walker2d_medium_expert_sparse_73_train.npz
+out: /public/gormpo/models/walker2d_medium_expert_sparse_3/diffusion
+epochs: 100
+batch: 512
+lr: 0.0002
+wd: 0.0
+timesteps: 50000
+checkpoint_every_epochs: 10
+seed: 0
+device: cuda
+model: mlp
+hidden: 512
+time_emb: 128
+layers: 3
+dropout: 0.0
+wandb: false
+wandb_project: GORMPO
+wandb_entity: jhhuang_chloe
+wandb_run: unconditional_ddim_mlp_walker2d_medium_expert_sparse_73
+log_every: 100
+samples_every: 1

walker2d_medium_expert_sparse/diffusion_42/scheduler/scheduler_config.json

@@ -0,0 +1,19 @@
+{
+  "_class_name": "DDIMScheduler",
+  "_diffusers_version": "0.36.0",
+  "beta_end": 0.02,
+  "beta_schedule": "linear",
+  "beta_start": 0.0001,
+  "clip_sample": true,
+  "clip_sample_range": 1.0,
+  "dynamic_thresholding_ratio": 0.995,
+  "num_train_timesteps": 50000,
+  "prediction_type": "epsilon",
+  "rescale_betas_zero_snr": false,
+  "sample_max_value": 1.0,
+  "set_alpha_to_one": true,
+  "steps_offset": 0,
+  "thresholding": false,
+  "timestep_spacing": "leading",
+  "trained_betas": null
+}

walker2d_medium_expert_sparse/diffusion_42/used_config.yaml

@@ -0,0 +1,21 @@
+npz: /public/d4rl/sparse_datasets/diffusion_processed/walker2d_medium_expert_sparse_73_train.npz
+out: /public/gormpo/models/walker2d_medium_expert_sparse_3/diffusion
+epochs: 100
+batch: 512
+lr: 0.0002
+wd: 0.0
+timesteps: 50000
+checkpoint_every_epochs: 10
+seed: 0
+device: cuda
+model: mlp
+hidden: 512
+time_emb: 128
+layers: 3
+dropout: 0.0
+wandb: false
+wandb_project: GORMPO
+wandb_entity: jhhuang_chloe
+wandb_run: unconditional_ddim_mlp_walker2d_medium_expert_sparse_73
+log_every: 100
+samples_every: 1

walker2d_medium_expert_sparse/diffusion_456/scheduler/scheduler_config.json

@@ -0,0 +1,19 @@
+{
+  "_class_name": "DDIMScheduler",
+  "_diffusers_version": "0.36.0",
+  "beta_end": 0.02,
+  "beta_schedule": "linear",
+  "beta_start": 0.0001,
+  "clip_sample": true,
+  "clip_sample_range": 1.0,
+  "dynamic_thresholding_ratio": 0.995,
+  "num_train_timesteps": 50000,
+  "prediction_type": "epsilon",
+  "rescale_betas_zero_snr": false,
+  "sample_max_value": 1.0,
+  "set_alpha_to_one": true,
+  "steps_offset": 0,
+  "thresholding": false,
+  "timestep_spacing": "leading",
+  "trained_betas": null
+}

walker2d_medium_expert_sparse/diffusion_456/used_config.yaml

@@ -0,0 +1,21 @@
+npz: /public/d4rl/sparse_datasets/diffusion_processed/walker2d_medium_expert_sparse_73_train.npz
+out: /public/gormpo/models/walker2d_medium_expert_sparse_3/diffusion
+epochs: 100
+batch: 512
+lr: 0.0002
+wd: 0.0
+timesteps: 50000
+checkpoint_every_epochs: 10
+seed: 0
+device: cuda
+model: mlp
+hidden: 512
+time_emb: 128
+layers: 3
+dropout: 0.0
+wandb: false
+wandb_project: GORMPO
+wandb_entity: jhhuang_chloe
+wandb_run: unconditional_ddim_mlp_walker2d_medium_expert_sparse_73
+log_every: 100
+samples_every: 1

walker2d_medium_expert_sparse/mbpo_based/kde/seed_456_0304_025033_walker2d_medium_expert_v2_gormpo_sparse_73/dynamics_model/model.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e664534a90dd5b4942f69fa57699ed3146632c867e3c8d81566218ddbd3ff24
+size 3736742

walker2d_medium_expert_sparse/mbpo_based/kde/seed_456_0304_025033_walker2d_medium_expert_v2_gormpo_sparse_73/dynamics_model/normalizers.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31b48b50a591ca7ddb895c10bd2606a95e7c4fe50afe220fa6dbff0a5d3a818c
+size 1584

walker2d_medium_expert_sparse/mobile_based/diffusion/seed_123&timestamp_26-0318-110436/record/hyper_param.json

@@ -0,0 +1 @@
+{"config": "config_gormpo/walker2d_medium_expert_72.5_diffusion.yaml", "algo_name": "mobile_gormpo", "task": "walker2d-medium-expert-v2", "seed": 123, "device": "cuda:7", "dataset_path": "/public/d4rl/sparse_datasets/walker2d_medium_expert_sparse_73.pkl", "dynamics_path": "log/walker2d-medium-expert-v2/seed_123&timestamp_26-0112-030558/model", "reward_penalty_coef": 0.5, "classifier_model_name": "/public/gormpo/models/walker2d_medium_expert_sparse_3/diffusion/checkpoint.pt", "use_wandb": true, "wandb_project": "mobile-gormpo", "wandb_entity": null, "domain": "gym", "actor_lr": 0.0001, "critic_lr": 0.0003, "hidden_dims": [256, 256], "gamma": 0.99, "tau": 0.005, "alpha": 0.2, "auto_alpha": true, "target_entropy": -6.0, "alpha_lr": 0.0001, "deterministic_backup": true, "max_q_backup": false, "norm_reward": false, "num_q_ensemble": 2, "dynamics_lr": 0.001, "dynamics_max_epochs": null, "max_epochs_since_update": 5, "dynamics_hidden_dims": [200, 200, 200, 200], "dynamics_weight_decay": [2.5e-05, 5e-05, 7.5e-05, 7.5e-05, 0.0001], "n_ensemble": 7, "n_elites": 5, "rollout_freq": 1000, "rollout_batch_size": 50000, "rollout_length": 1, "penalty_coef": 1.5, "num_samples": 10, "model_retain_epochs": 5, "real_ratio": 0.05, "load_dynamics_path": null, "epoch": 3000, "step_per_epoch": 1000, "eval_episodes": 100, "batch_size": 256, "lr_scheduler": true, "density_model": "diffusion", "data_path": "/public/d4rl/sparse_datasets/walker2d_medium_expert_sparse_73.pkl", "penalty_type": "tanh", "obs_shape": [17], "action_dim": 6.0, "max_action": 1.0, "classifier_type": "diffusion"}

walker2d_medium_expert_sparse/mobile_based/diffusion/seed_123&timestamp_26-0318-110436/record/policy_training_progress.csv

@@ -0,0 +1,61 @@
+alpha,eval/episode_length,eval/episode_length_std,eval/normalized_episode_reward,eval/normalized_episode_reward_std,loss/actor,loss/alpha,loss/critic,penalty/lcb_mean,penalty/lcb_std,rollout_info/dynamics_penalty_mean,rollout_info/dynamics_penalty_std,rollout_info/num_transitions,rollout_info/reward_mean,timestep
+0.2569602797505301,149.16,22.917556588781448,0.7910023558757269,0.6846615316440469,-262.91484590656927,-2.1099551502804035,18.941839337577377,0.9539310742166647,1.2174721044818249,1.0,0.0,50000.0,4.008804721709407,50000
+0.13086671972021433,79.8,1.0099504938362078,3.7013666961408944,-0.0039029976164907405,-412.340385280759,0.003715914236418706,29.346568571071735,1.1555151186180315,1.702638341746326,1.0,0.0,50000.0,4.01434281589719,100000
+0.14397376851141422,369.83,122.81580150778645,32.522625751923194,12.279642325459518,-410.1812615545643,0.005722395344860824,30.625820516204815,1.1795785833608923,1.6824834882783846,1.0,0.0,50000.0,4.013266513939563,150000
+0.15214940165013013,951.99,145.26716731594928,90.02993586814809,15.178741053711118,-396.19484931274667,0.007506143559515514,33.31022395774852,1.23935077428101,1.7083978927528862,1.0,0.0,50000.0,4.016496500726141,200000
+0.15118354624092506,982.5,78.58504946871255,94.59544687232697,8.051976394106083,-382.00492953491255,-0.00670051597315801,34.196661952285,1.2255371724677182,1.7383604956686691,1.0,0.0,50000.0,4.012703073621762,250000
+0.1471114114227906,452.57,397.1588915031364,40.56289542506497,40.60089748221953,-372.88679790221926,-0.00846240766935055,34.772329122944534,1.2261212625849414,1.756086511439084,1.0,0.0,50000.0,4.008283459717478,300000
+0.14362991789460425,733.47,290.1108565703807,74.02950956438943,31.674089902447488,-367.9412748223834,0.0005961331483721913,35.40371496828058,1.2271078076303004,1.773877491171364,1.0,0.0,50000.0,4.006803972411574,350000
+0.1417946846204983,739.94,206.45051804245975,73.7041246068258,22.464532091690316,-371.1777701910424,-6.093910034738867e-05,36.9708730561638,1.2662532348990598,1.8392467483306,1.0,0.0,50000.0,4.006791781988166,400000
+0.1409734567365026,822.85,199.38351862679124,83.93590627275536,22.01441945790402,-372.96174581970155,-0.006877446343153664,37.1156261184496,1.250947266532182,1.866195277452466,1.0,0.0,50000.0,4.002781707602156,450000
+0.13721801004320794,989.78,53.342774581005806,97.95911565779944,6.732078891797581,-373.1268988903833,0.006633425579927985,37.709595372066566,1.257499902604815,1.8983266144847872,1.0,0.0,50000.0,4.002503584031367,500000
+0.13151945477410965,987.91,84.66216333167964,105.06730437765557,9.939865127565717,-372.59107279663,-0.0005253386221826968,36.30548227644027,1.2163241503691713,1.8879108668207976,1.0,0.0,50000.0,4.001925383358205,550000
+0.12879594728037538,1000.0,0.0,104.35090267379805,0.8083402073369654,-372.8965132238744,-0.008439444953017036,37.29304559206014,1.240310036520972,1.8946603827965098,1.0,0.0,50000.0,4.00061840032047,600000
+0.1272888962183914,974.81,95.99205123342246,107.47579539458584,11.729344985317608,-374.13414314880697,-0.004297469076700359,38.9525898677252,1.280204203420893,1.9592352003705524,1.0,0.0,50000.0,4.001286720610441,650000
+0.12653302696958077,697.38,382.41720097296877,72.63251900061223,44.09737759998796,-375.17153708557106,0.004088032592944912,38.64077164022458,1.2730661470806737,1.945636404213922,1.0,0.0,50000.0,4.003599379098962,700000
+0.12767828645467696,949.59,139.5947774811078,100.32450349088815,16.142104537719334,-375.7560533972164,0.0010770870185271533,39.71782128295974,1.2936603452551083,1.9725133888769295,1.0,0.0,50000.0,4.001773199673773,750000
+0.1242950022324916,915.29,167.5127036973614,93.49270187216591,19.287837566043564,-377.82792092040955,-0.007445704812407321,39.023276597862484,1.2692260796522967,1.9717889479589608,1.0,0.0,50000.0,4.004554706013524,800000
+0.12426104018762793,1000.0,0.0,107.95027306505919,1.106077974684868,-376.0800710394335,0.002714476915933178,39.38901392181403,1.2894052938079665,1.9863429577899074,1.0,0.0,50000.0,4.001351974481057,850000
+0.11744937938362443,1000.0,0.0,110.81922451794448,0.7791642693286251,-377.45201113891517,-0.012047551082633291,36.78289013780632,1.2238512346088752,1.9163424479126925,1.0,0.0,50000.0,4.003940844534206,900000
+0.11586433856189267,962.94,95.57550104498539,103.88947077579725,11.511719910308829,-379.8844577197249,0.007055957059189627,36.04443597154601,1.213774112929095,1.9127446720731074,1.0,0.0,50000.0,4.007550694217074,950000
+0.11603019417449698,965.66,83.16636579771898,108.92077259135834,9.89682301322767,-379.29706278076327,0.006602847759090514,35.09398337396583,1.2130828578019188,1.8833162376844976,1.0,0.0,50000.0,4.005868452714623,1000000
+0.1190363067439201,1000.0,0.0,110.2288270958429,0.7088525113924105,-375.8529324163824,-0.016528314115442325,37.6194084413337,1.2450656741345025,1.9788227754795489,1.0,0.0,50000.0,4.0048627946999185,1050000
+0.11399095051348218,975.41,82.0298841886297,112.53380732467973,10.542338380125859,-375.48937288451714,-0.004883535950593696,36.36132871694568,1.2235149646699255,1.9418348423361746,1.0,0.0,50000.0,4.00797955724357,1100000
+0.11580512761280087,998.15,18.40726758647247,118.534226036468,2.47479410369682,-374.0310609814488,0.010416776951700143,37.78812670293804,1.2375861376714565,1.981176465879711,1.0,0.0,50000.0,4.00399160367614,1150000
+0.11154421611964632,1000.0,0.0,115.207558028444,0.9980071214009208,-373.37662739258,-0.005615338999889659,38.230901662407014,1.2289266223144604,2.007225360633128,1.0,0.0,50000.0,4.006445178359102,1200000
+0.11076298432081864,1000.0,0.0,119.95846899334981,0.6135414989527358,-372.6675862335182,-0.0009991501854359468,37.93344444526673,1.2406599675249865,1.9785697744357467,1.0,0.0,50000.0,4.002467725518476,1250000
+0.11446648420363514,1000.0,0.0,114.55416299398237,0.6085441723782615,-373.72503251892397,-0.001857529690116677,38.01955102279746,1.2649256220197647,1.9968203834533684,1.0,0.0,50000.0,4.006213509768509,1300000
+0.10927211612000952,1000.0,0.0,111.12822317817594,0.8420812104197555,-373.80241772033855,-0.0026573028564824885,38.55043833541841,1.2642836018407277,2.0174193175184785,1.0,0.0,50000.0,4.000970668452011,1350000
+0.11433253828033917,1000.0,0.0,109.40954137157641,0.34499000874392277,-371.3033276416072,0.004732270140237969,40.52622574514357,1.2974389438557508,2.0760805757594127,1.0,0.0,50000.0,4.005214745820703,1400000
+0.114988910821676,1000.0,0.0,114.8112064824716,0.6334379039489506,-370.0399181524662,0.0037634728788956155,43.66169459741514,1.3654623713278706,2.139950856317322,1.0,0.0,50000.0,4.005501908673204,1450000
+0.11093232823982772,1000.0,0.0,112.46187611456008,0.1905563188888164,-372.2705479028304,0.0038137106660379866,42.02618128549596,1.3184582690012583,2.0983237293195236,1.0,0.0,50000.0,4.005882104567779,1500000
+0.1140657761630412,1000.0,0.0,110.15703097078429,0.2782506508256359,-368.32177158935815,-0.011344712724741517,44.58848374465875,1.3546598614680847,2.166358288680286,1.0,0.0,50000.0,4.007829473473741,1550000
+0.11058555632933817,981.44,88.6001489840734,109.28354611171245,10.200130906057067,-370.160459737544,-0.0029531461853162825,41.18703958246232,1.321743825953009,2.0790284080755526,1.0,0.0,50000.0,4.004601059367774,1600000
+0.11581130776330678,1000.0,0.0,108.62170823627592,0.9633168502562222,-367.7789735388154,0.0101886847422643,46.094036282539335,1.3803576803350457,2.2132295905304202,1.0,0.0,50000.0,4.0049129257188225,1650000
+0.10921223311677597,993.46,38.02115726802645,108.93559273994504,4.432523384583608,-369.36739401428804,-0.004265388914681924,44.29295114648782,1.3586679069340202,2.188180020891427,1.0,0.0,50000.0,4.003961919297266,1700000
+0.11232447602838348,1000.0,0.0,111.65804291807304,0.3790876487368669,-372.50234821533564,0.007250342838727012,45.603454873562775,1.3736897130560768,2.214715817914018,1.0,0.0,50000.0,4.008760028513074,1750000
+0.1137376044340422,1000.0,0.0,111.9382859611421,0.14642083207451598,-371.45663008667026,-0.005585000726990472,45.5456559873586,1.3826356243693616,2.2066585294389323,1.0,0.0,50000.0,4.0052802696400285,1800000
+0.11343816916942491,1000.0,0.0,111.80807260535599,1.7692550724464633,-364.7453685162365,-0.00041634349487715576,44.77242828479759,1.3697805872678686,2.166898779982329,1.0,0.0,50000.0,4.005891300640415,1850000
+0.11157268400505066,1000.0,0.0,112.55650657418397,0.5157842957083071,-365.74836434814506,0.010262302083484864,44.715121528548785,1.3783262950682686,2.177175699149389,1.0,0.0,50000.0,4.005450199027857,1900000
+0.11620978216052015,1000.0,0.0,108.90110615863952,1.0551206764076395,-366.9647533605975,0.0026076995486020048,46.32057946241389,1.3931620593953036,2.2115064288151087,1.0,0.0,50000.0,4.005320708661638,1950000
+0.11843075131699417,995.5,44.7744346697979,112.53695908611677,5.4960985264910995,-368.88263679626397,-0.006236873506009463,46.538023590354676,1.4135068566024422,2.2202494056534126,1.0,0.0,50000.0,4.007137593364525,2000000
+0.11932801265329174,966.54,103.17649150848267,108.29165858056405,12.225842947856027,-366.92803861633075,0.0009191950928419552,49.08142734029704,1.4549946274137517,2.258543640278628,1.0,0.0,50000.0,4.007752271983789,2050000
+0.11936389200076561,1000.0,0.0,114.41562117545739,0.13449040571640933,-367.8395086212136,0.003751206403523788,47.431591363029334,1.4265368631017257,2.248370658047285,1.0,0.0,50000.0,4.003543368690789,2100000
+0.11376726318448659,1000.0,0.0,113.81736192132408,0.31355809276583313,-368.88677593627864,-0.006747145491987498,46.06366186187714,1.397251119536181,2.2160876664888756,1.0,0.0,50000.0,4.003176848397971,2150000
+0.11348550005480655,1000.0,0.0,113.55099337284116,0.35344631278030725,-367.6902165557866,-0.002064229842871561,47.21754706775642,1.4131838185119563,2.239740693289023,1.0,0.0,50000.0,4.009487164981165,2200000
+0.11986632187038727,993.65,36.61840384287661,110.79845813559275,4.372748458927642,-367.96767946228243,0.008225241112783895,51.157294102039344,1.490774699430476,2.3370945164561077,1.0,0.0,50000.0,4.003569114893272,2250000
+0.11950121334284365,1000.0,0.0,110.74895664405753,0.2867482102649713,-364.6802585900891,0.005859840607568659,47.90267981861136,1.4649509023714335,2.226392384002207,1.0,0.0,50000.0,4.005178852771915,2300000
+0.11928659750848922,991.39,60.61252263352846,111.11556888583942,7.260646097950631,-363.71430534118383,-0.007886751927807994,49.71494141286919,1.4927503229331907,2.2766142259049436,1.0,0.0,50000.0,4.0055814800693765,2350000
+0.11516787696719223,1000.0,0.0,110.16480184546342,0.2822451509456943,-366.23467188414753,0.01072631173990679,50.04115358985937,1.4898371410536935,2.301340639486257,1.0,0.0,50000.0,4.005624905319749,2400000
+0.11353003003657049,1000.0,0.0,114.69738686736117,0.4580691936183308,-365.27944359924487,-0.01231841233061629,50.137522872028974,1.4961874201369312,2.321348136091202,1.0,0.0,50000.0,4.001329256758822,2450000
+0.1158003960299481,978.75,86.24504333583467,111.77434593599807,10.843667780603013,-369.0021782214368,0.003411206333600061,49.848277942410064,1.4986352739154993,2.3167634167027344,1.0,0.0,50000.0,4.003924411594296,2500000
+0.11421341140464035,1000.0,0.0,115.41482580279889,0.4494979469781802,-370.48511335082105,-0.0044725479546564055,48.3493453925318,1.4711192551231378,2.2802755272769915,1.0,0.0,50000.0,4.0048893663572676,2550000
+0.10992564061999295,1000.0,0.0,115.9144127166889,0.31081774598652695,-371.1665436669931,-0.005334057018049185,49.85901994449627,1.4854409599089595,2.332338754572802,1.0,0.0,50000.0,4.003930595694816,2600000
+0.10911109111070591,1000.0,0.0,115.08029110863814,0.5074900254536597,-371.64099673583877,0.009224903085231745,48.01486591650008,1.4783332749378566,2.2742510154724194,1.0,0.0,50000.0,4.006610729692851,2650000
+0.1043675620405368,999.29,7.064410803457003,116.18404317563974,1.25691269690946,-373.40690248779066,-0.006656091121696051,48.00264514352762,1.4547089196217236,2.29816304010152,1.0,0.0,50000.0,4.001725945135117,2700000
+0.1047217597588896,1000.0,0.0,114.69458184028376,0.7379180143312473,-370.36865112181425,-0.01287818292949375,48.98084204151194,1.4782155264377583,2.3064754952991033,1.0,0.0,50000.0,4.002975265067101,2750000
+0.10810873761549608,1000.0,0.0,113.37880725007108,0.7121943542726056,-366.8118822595242,0.026502747114337966,51.47439349647554,1.528731584483383,2.3833886908018234,1.0,0.0,50000.0,3.998618185621501,2800000
+0.10645356605455289,1000.0,0.0,114.44795381178983,0.3854037318141732,-365.79070693175896,-0.030315264056846748,50.64714564941347,1.4865043902480357,2.3667024272740544,1.0,0.0,50000.0,4.00343044574418,2850000
+0.10142718180492435,1000.0,0.0,116.51007045942117,0.4004127758158774,-368.3467670440732,0.012264961577132062,50.036580651396996,1.480592982825033,2.347790437288291,1.0,0.0,50000.0,4.003982807804823,2900000
+0.10161906777560699,1000.0,0.0,114.90441790594994,0.35368827900653566,-369.7939878716994,0.019399811185561104,50.43047655942923,1.5134935234117466,2.347788296520686,1.0,0.0,50000.0,4.0058774809123046,2950000
+0.10223200381487672,1000.0,0.0,115.48610369226328,0.4037671500095815,-362.7499290130596,0.0029747274115687946,51.934140431098825,1.530951429852261,2.382976044757365,1.0,0.0,50000.0,4.00312183810687,3000000

walker2d_medium_expert_sparse/mobile_based/diffusion/seed_42&timestamp_26-0317-010307/record/hyper_param.json

@@ -0,0 +1 @@
+{"config": "config_gormpo/walker2d_medium_expert_72.5_diffusion.yaml", "algo_name": "mobile_gormpo", "task": "walker2d-medium-expert-v2", "seed": 42, "device": "cuda:7", "dataset_path": "/public/d4rl/sparse_datasets/walker2d_medium_expert_sparse_73.pkl", "dynamics_path": "log/walker2d-medium-expert-v2/seed_42&timestamp_26-0112-030600/model", "reward_penalty_coef": 0.5, "classifier_model_name": "/public/gormpo/models/walker2d_medium_expert_sparse_3/diffusion/checkpoint.pt", "use_wandb": true, "wandb_project": "mobile-gormpo", "wandb_entity": null, "domain": "gym", "actor_lr": 0.0001, "critic_lr": 0.0003, "hidden_dims": [256, 256], "gamma": 0.99, "tau": 0.005, "alpha": 0.2, "auto_alpha": true, "target_entropy": -6.0, "alpha_lr": 0.0001, "deterministic_backup": true, "max_q_backup": false, "norm_reward": false, "num_q_ensemble": 2, "dynamics_lr": 0.001, "dynamics_max_epochs": null, "max_epochs_since_update": 5, "dynamics_hidden_dims": [200, 200, 200, 200], "dynamics_weight_decay": [2.5e-05, 5e-05, 7.5e-05, 7.5e-05, 0.0001], "n_ensemble": 7, "n_elites": 5, "rollout_freq": 1000, "rollout_batch_size": 50000, "rollout_length": 1, "penalty_coef": 1.5, "num_samples": 10, "model_retain_epochs": 5, "real_ratio": 0.05, "load_dynamics_path": null, "epoch": 3000, "step_per_epoch": 1000, "eval_episodes": 100, "batch_size": 256, "lr_scheduler": true, "density_model": "diffusion", "data_path": "/public/d4rl/sparse_datasets/walker2d_medium_expert_sparse_73.pkl", "penalty_type": "tanh", "obs_shape": [17], "action_dim": 6.0, "max_action": 1.0, "classifier_type": "diffusion"}

walker2d_medium_expert_sparse/mobile_based/diffusion/seed_42&timestamp_26-0317-010307/record/policy_training_progress.csv

@@ -0,0 +1,61 @@
+alpha,eval/episode_length,eval/episode_length_std,eval/normalized_episode_reward,eval/normalized_episode_reward_std,loss/actor,loss/alpha,loss/critic,penalty/lcb_mean,penalty/lcb_std,rollout_info/dynamics_penalty_mean,rollout_info/dynamics_penalty_std,rollout_info/num_transitions,rollout_info/reward_mean,timestep
+0.26010656816497374,130.97,24.114499787472266,1.9107946711164927,0.7784987379282658,-256.48264065817926,-1.8958086312742153,18.606618245362963,0.9612606417499877,1.1661767950377182,1.0,0.0,50000.0,4.021955242688703,50000
+0.12709427481070423,233.01,114.33735128994375,12.9821679925894,11.479801933810789,-379.77036995177446,0.02125939526477782,30.446741581420834,1.204534055905348,1.6406263143014927,1.0,0.0,50000.0,4.0027834624928476,100000
+0.1279509038324653,182.12,67.7159183648867,2.998862083150013,4.296292259228584,-392.740255734866,-0.006952416578680279,28.905837470569168,1.178120815519095,1.593985981031662,1.0,0.0,50000.0,4.01339224404918,150000
+0.12717082333028182,198.46,80.71560196145477,11.783499229650518,9.15921467462922,-392.10890768066673,0.013588794149980018,31.08840963434213,1.219144772214893,1.654926314842698,1.0,0.0,50000.0,4.012562202227519,200000
+0.14567385011256218,273.56,226.7338227966882,21.217995388321672,23.72778260814971,-372.5295784979237,0.013916833381466607,34.21339832981085,1.2515244646107935,1.728491901484743,1.0,0.0,50000.0,4.015840997724066,250000
+0.1472665258923199,377.82,336.8627429681116,32.64595140394867,35.471024153994115,-358.86687038756935,-0.007750806069448528,33.200788448467264,1.2502425534212476,1.6869028328037348,1.0,0.0,50000.0,4.01636232514032,300000
+0.14924808612912968,134.96,19.0845068052596,7.4280172077292095,1.6289606598511914,-351.17602536559394,0.012815461519844763,34.60595193067573,1.271689899456515,1.7170259440660522,1.0,0.0,50000.0,4.01108395059955,350000
+0.15123358589649416,995.77,42.08796858961003,101.26526088312058,5.007108020126771,-343.45169025084687,-0.013787722290531176,37.346228884067685,1.2946170709454903,1.8175066920149234,1.0,0.0,50000.0,4.00761921748948,400000
+0.14454470500201105,989.45,60.549050364146915,101.99816921185207,6.978080356846632,-341.35771314026067,0.0005468935789540512,39.12895918750812,1.3252389087021383,1.925208973419667,1.0,0.0,50000.0,4.003040370088375,450000
+0.1478827886152271,723.98,258.1679290694334,73.39937790513412,28.988688686390677,-339.60747888794305,-0.0001594891105592554,40.51335264619944,1.3364176510166936,1.934344494587186,1.0,0.0,50000.0,4.008295536635577,500000
+0.14400746827810923,965.21,102.62439232463208,104.77737340457536,12.716643090276925,-344.3077157745326,-0.004483253823295286,37.445861756286895,1.298777192748757,1.8602452720439397,1.0,0.0,50000.0,4.006543300084448,550000
+0.13918747541665924,990.9,53.07909192893186,108.86117268169721,6.903552376571419,-346.96548370605535,-0.001765071741938576,40.038296211776796,1.3318933718860395,1.9624548308229421,1.0,0.0,50000.0,4.0005600417546034,600000
+0.14165124107926955,473.86,403.255453031946,46.8536497715013,46.890288636983314,-342.0764211480738,0.008073747935406834,41.784936601429,1.3658301079177957,1.9894073920834079,1.0,0.0,50000.0,4.000735688910414,650000
+0.1357803334930541,1000.0,0.0,115.19158706264272,1.692130717389854,-340.2869052252231,-0.009607978770323199,39.38201594957346,1.3194681610786814,1.9608220427525018,1.0,0.0,50000.0,4.001061419050802,700000
+0.1246116629639268,1000.0,0.0,107.84282082184032,2.1085733182480255,-346.9877406072999,-0.005104628092627872,37.81227524908145,1.304365783603172,1.95215701367856,1.0,0.0,50000.0,4.000648028172889,750000
+0.123957433483601,1000.0,0.0,113.3255649779609,0.6753494315056687,-350.206260969238,-0.002344601191058732,37.74622146785697,1.3004681524717814,1.9354510277390704,1.0,0.0,50000.0,4.000218178480686,800000
+0.12799933589115675,1000.0,0.0,114.7645690386286,1.9088709358569822,-344.75813232849106,0.004352000586017901,39.32933093364716,1.3273272403335512,1.981255337963123,1.0,0.0,50000.0,4.001950874340638,850000
+0.1277914002023633,1000.0,0.0,115.88941916837227,1.363350338025509,-343.0662506060798,-0.0006496161188185533,39.25816836275125,1.3317254096651088,1.9888164294183144,1.0,0.0,50000.0,3.999528294739295,900000
+0.12376643388584449,1000.0,0.0,113.17793099874682,0.45823820140721033,-347.4316422253414,-0.003047418961338718,39.898947081604604,1.3405836998641305,2.019219444791048,1.0,0.0,50000.0,3.999576288271784,950000
+0.12864695900216477,1000.0,0.0,110.01019047931149,0.8258539673208073,-347.98238498596317,0.0032970714040844703,41.85238346820817,1.4033183644604668,2.055191384930586,1.0,0.0,50000.0,3.99688889936607,1000000
+0.12278977039709718,1000.0,0.0,108.95542978820933,0.5690550356577393,-351.3434851507586,-0.0025740299267695255,40.48551656776398,1.4020658664393388,2.019009943474559,1.0,0.0,50000.0,3.9931075655484554,1050000
+0.12469853136807628,1000.0,0.0,109.87376436744832,0.41494865915508927,-349.16342880554896,-0.0012755583744494786,40.91930036977736,1.3916229855644586,2.0309456380307664,1.0,0.0,50000.0,3.995965884254742,1100000
+0.1232311908322579,969.22,106.49277721986594,108.60297737355877,13.07905925790534,-347.61781209899897,-0.0015413823386654796,43.71490368328097,1.4308925750362693,2.1228589208281083,1.0,0.0,50000.0,3.995035174887871,1150000
+0.12755881536871247,988.65,52.42830819318892,110.79078915069809,6.519153147291503,-342.88411621337553,0.004202031796462662,41.606132142086494,1.4141767189705663,2.0442072276771124,1.0,0.0,50000.0,3.999666119725298,1200000
+0.11901343632236125,1000.0,0.0,110.42819864906201,0.4125037429072046,-341.8416523071297,-0.007714420828260286,41.868383156833836,1.4024333186602531,2.0491509804344226,1.0,0.0,50000.0,3.9988018871844884,1250000
+0.11887223177000887,992.37,47.91401778185586,111.81538487383851,5.939872192768089,-342.92795847900584,0.0105012957952916,42.781525374642186,1.410510551500316,2.102682868096833,1.0,0.0,50000.0,3.9956608577879424,1300000
+0.12274735473215531,1000.0,0.0,113.65569232296642,1.0668619351000062,-342.8511651904324,-0.0005693821896611716,45.680143537367336,1.460931850658635,2.160841324335328,1.0,0.0,50000.0,3.9983393918661347,1350000
+0.12685425558656535,1000.0,0.0,113.06430826781654,1.1158683659593727,-338.8936623413095,-0.0038585419637710053,47.11997244182565,1.4981153171205497,2.205286464070061,1.0,0.0,50000.0,3.9980962764844414,1400000
+0.12383224204018745,1000.0,0.0,116.42655097012164,0.9128709607782322,-338.10407191649676,0.0036597150060534668,48.943963979224655,1.508226298632619,2.2616171534037828,1.0,0.0,50000.0,4.001258044909991,1450000
+0.12762682418466098,994.22,33.537018352858986,112.66499877990816,4.322345005466686,-337.9138551818906,-0.002605840455740658,49.735978810863685,1.5376809922993255,2.26798851660373,1.0,0.0,50000.0,3.9983790697944284,1500000
+0.12828904828503815,1000.0,0.0,113.40269996965321,0.5618555679554799,-332.0974151123079,-0.0010847443978861178,49.43192394853594,1.5235914594960187,2.2512906406521966,1.0,0.0,50000.0,4.001514951800789,1550000
+0.1268514621634788,926.15,155.6354313773056,105.19440205315735,19.505754143689295,-332.77767801269806,0.007946124373413587,48.4382926787753,1.5238565038192065,2.2238645958137564,1.0,0.0,50000.0,4.001721770384169,1600000
+0.12874401711791614,847.1,209.62001335750367,94.45218135748587,25.11584333812742,-333.65032450805677,-0.003835182695016084,50.01518024585817,1.570685843701341,2.26420511926534,1.0,0.0,50000.0,3.9997354018454314,1650000
+0.12462082088455619,990.13,57.25428455583042,115.16529385973952,7.280046826191946,-337.81561410400286,0.004660705312863097,48.512494826888464,1.5248604657244729,2.2213533751976287,1.0,0.0,50000.0,4.0016922925049325,1700000
+0.12736922225266595,1000.0,0.0,111.54048337461506,1.009874271265403,-335.06128598755356,-0.0005895134041831382,52.59365942489681,1.5886270876503032,2.3195078652608467,1.0,0.0,50000.0,4.001327255772077,1750000
+0.12227996642723785,1000.0,0.0,109.44720925766104,0.893086924372804,-335.5823021276835,-0.00040804778542366456,49.81934460487312,1.557938111605649,2.263447037438146,1.0,0.0,50000.0,3.9991080309797296,1800000
+0.12606504004523297,999.93,0.6964912059746339,112.00719625377029,1.1554844219517315,-335.00227744873524,0.0036083246730266054,51.979072444019046,1.5819936350083346,2.3159892958796036,1.0,0.0,50000.0,3.994945747715712,1850000
+0.12639163313865737,1000.0,0.0,114.47458447916618,0.9126658767315776,-334.71203083373973,-0.00821855211783194,52.84185580846796,1.5979908638930245,2.3210558021783934,1.0,0.0,50000.0,3.995280855806231,1900000
+0.13023429559454383,1000.0,0.0,112.34422195944818,0.9226728742777768,-341.85745468322506,0.008938447152786081,54.1183434511187,1.6375159090089884,2.355035180714112,1.0,0.0,50000.0,4.001958490743792,1950000
+0.13316828544512394,1000.0,0.0,112.83392314431889,1.3933685007395413,-338.0643818798805,-0.002608150453679401,54.315259019431174,1.6414713014197369,2.330465105178391,1.0,0.0,50000.0,3.9971866358698502,2000000
+0.13115901021733803,1000.0,0.0,111.29612033744986,0.47619092451239453,-339.1929561914102,0.0015612457858399371,54.40844697027223,1.6408441787218833,2.3640582389760216,1.0,0.0,50000.0,3.9990470491484507,2050000
+0.1252998694384113,1000.0,0.0,117.88450248948557,0.5633958197976473,-338.5571184771746,-0.008835066727437196,52.989682667675204,1.6124678628087012,2.303564701884952,1.0,0.0,50000.0,3.996600558070921,2100000
+0.12970751872822492,145.69,187.61576133150433,6.149801357477698,20.11995821389479,-338.0767801336667,0.016121772066727425,53.15053862445828,1.6172458002495664,2.324132378926295,1.0,0.0,50000.0,4.002813600851859,2150000
+0.13073222350567926,1000.0,0.0,114.91733015649469,1.2223214443316757,-339.51386640869356,-0.0060100440295414006,53.840795952072426,1.6374746879506026,2.349788279447598,1.0,0.0,50000.0,3.9973274050591114,2200000
+0.13064828044995713,153.38,267.6719551988964,10.676060473951491,30.662995548700795,-338.26988545471204,-0.006434891598485412,53.679045811271706,1.63758027415989,2.3462318637037245,1.0,0.0,50000.0,3.999314084457742,2250000
+0.12771819902747944,995.98,34.40726086162628,111.59897552453866,4.1083788047102665,-338.89907398498383,-0.003955865126289462,54.184221485252046,1.6413794755077327,2.3827945502352486,1.0,0.0,50000.0,3.9978663546808115,2300000
+0.12594480560064275,994.78,32.19521082397194,112.1379791679622,3.9370954053494565,-338.5716271807872,-0.0014656031234934908,53.38788651960383,1.6281556152296042,2.3420486280262414,1.0,0.0,50000.0,3.9996213848847506,2350000
+0.11750731855109336,1000.0,0.0,111.69465075691238,1.1088282678382826,-337.6921084295625,0.003008367100655982,52.94142979062997,1.6060709646344389,2.335182682096955,1.0,0.0,50000.0,3.999829846967733,2400000
+0.11675456903323607,864.87,334.91756164763893,95.26082082803964,38.19920322153344,-339.3973001824964,-0.0045388382646441286,51.94149936233503,1.5942507414269194,2.339023500318491,1.0,0.0,50000.0,3.9970981764481066,2450000
+0.12099763264939048,1000.0,0.0,110.12123333097905,1.0907276652047835,-336.04053546447835,0.017798508748300523,54.18572754081667,1.621112435140598,2.3913835898565767,1.0,0.0,50000.0,3.9987014947837474,2500000
+0.12147366511464143,989.72,71.9668090163792,115.17144137521822,8.88255010073947,-337.73905243590934,-0.024715230739377356,55.25614226593027,1.6517033020568004,2.4187892270350413,1.0,0.0,50000.0,3.9993153091658824,2550000
+0.11619932412639328,951.82,210.01197013503779,105.13784312385049,24.004215854811772,-341.6928641577134,0.014892197536826149,53.25883416704087,1.621154416859143,2.3727441968059537,1.0,0.0,50000.0,3.999295208890605,2600000
+0.12562259308978937,979.85,79.17756942467986,111.65099930566618,9.554785939172564,-340.7154783276325,0.0015022562593965312,57.253447132301154,1.6914641883993053,2.4618548676085057,1.0,0.0,50000.0,3.9961951480713482,2650000
+0.11722731672257158,1000.0,0.0,113.59124632688851,0.6591344564596759,-342.26681687683043,0.0018814271019957302,55.80619983457502,1.6579601529908314,2.437173225526802,1.0,0.0,50000.0,3.9967052303848156,2700000
+0.11664808100014948,969.83,101.4875415999422,109.48817785286839,11.957425426865765,-340.21018974242867,-0.006669060201644771,56.20948833145164,1.660449171569346,2.446168809027666,1.0,0.0,50000.0,3.996471496861553,2750000
+0.11807767802447008,1000.0,0.0,109.39674075217609,0.9873851040322155,-335.4935671850549,0.005805025798790391,57.0429044169236,1.6728198187303354,2.4605529312038046,1.0,0.0,50000.0,3.997813331750451,2800000
+0.11563184144735272,1000.0,0.0,114.9317730425802,0.32503101156617803,-337.86756456543503,-0.025294752838425534,56.75294603124644,1.6844992979908295,2.4625276932120004,1.0,0.0,50000.0,4.002236844178546,2850000
+0.10427119959667254,1000.0,0.0,115.98537934336296,1.9059086910549323,-333.8112125933808,0.045019993291943984,51.90261201499937,1.5851450817322694,2.3822096522652605,1.0,0.0,50000.0,3.998832019666194,2900000
+0.10417378894537471,1000.0,0.0,113.34238250355514,0.5580029549020875,-333.3483240167251,-0.029490160815902097,52.85087845493313,1.6075413137936483,2.3850693958378235,1.0,0.0,50000.0,3.9994660888032416,2950000
+0.10185466848015769,1000.0,0.0,113.41326237263229,0.47436042946129564,-333.36268919800347,0.0154369046681374,50.23351942893877,1.5713010388541382,2.3391393603169885,1.0,0.0,50000.0,3.997827773994398,3000000